MoveIt Pro Objective Integration Tests

118

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.8s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

31 pass54 skip

✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	44.4s	9309 errors · 291 warnings · 9485 info
+ 0.00sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.02sINFOros2_control_node[2026-06-11 19:19:43.985] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-06-11 19:19:43.985] [info] Accepted new action goal ×2 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 2132.709 us (Expected < 1666.667 us) --> Read time : 223.415 us, Update time : 63.032 us, Write time : 1846.262 us + 0.34sWARNros2_control_nodeOverrun might occur, Total time : 2132.709 us (Expected < 1666.667 us) --> Read time : 223.415 us, Update time : 63.032 us, Write time : 1846.262 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763640 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763640 ms (missed cycles : 6).[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.628806 ms (missed cycles : 6). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.628806 ms (missed cycles : 6).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 6498.029 us (Expected < 1666.667 us) --> Read time : 5808.763 us, Update time : 103.803 us, Write time : 585.463 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 6498.029 us (Expected < 1666.667 us) --> Read time : 5808.763 us, Update time : 103.803 us, Write time : 585.463 us[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075601 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075601 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun might occur, Total time : 5752.471 us (Expected < 1666.667 us) --> Read time : 306.007 us, Update time : 4965.893 us, Write time : 480.571 us + 2.66sWARNros2_control_nodeOverrun might occur, Total time : 5752.471 us (Expected < 1666.667 us) --> Read time : 306.007 us, Update time : 4965.893 us, Write time : 480.571 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557815 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557815 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781205587.59613180 seconds ×3 + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4265.437 us (Expected < 1666.667 us) --> Read time : 328.457 us, Update time : 3368.337 us, Write time : 568.643 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4265.437 us (Expected < 1666.667 us) --> Read time : 328.457 us, Update time : 3368.337 us, Write time : 568.643 us[0m ×2 + 4.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781205588.23078966 seconds. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.43sINFOros2_control_node[2026-06-11 19:19:48.394] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-11 19:19:48.394] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072432 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072432 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2074.238 us (Expected < 1666.667 us) --> Read time : 214.765 us, Update time : 73.862 us, Write time : 1785.611 us + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 2074.238 us (Expected < 1666.667 us) --> Read time : 214.765 us, Update time : 73.862 us, Write time : 1785.611 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150798 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150798 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 2205.681 us (Expected < 1666.667 us) --> Read time : 247.466 us, Update time : 868.290 us, Write time : 1089.925 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 2205.681 us (Expected < 1666.667 us) --> Read time : 247.466 us, Update time : 868.290 us, Write time : 1089.925 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073788 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073788 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun might occur, Total time : 2097.178 us (Expected < 1666.667 us) --> Read time : 1391.171 us, Update time : 107.373 us, Write time : 598.634 us + 7.47sWARNros2_control_nodeOverrun might occur, Total time : 2097.178 us (Expected < 1666.667 us) --> Read time : 1391.171 us, Update time : 107.373 us, Write time : 598.634 us[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.047140 ms (missed cycles : 5). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.047140 ms (missed cycles : 5).[0m ×2 + 8.20sINFOjoint_trajectory_controllerReceived new action goal ×3103 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551174670629 + 8.21sINFOros2_control_nodeReceived new action goal[0m ×6206 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551174670629[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874368665621 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874368665621[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041219113596 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001041219113596[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593538361639 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593538361639[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000602598193465 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000602598193465[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000812603127091 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000812603127091[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113904923110 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001113904923110[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001104002475533 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001104002475533[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544072529854 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544072529854[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781996014163 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001781996014163[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786124699888 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786124699888[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413906482127 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413906482127[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157053332352 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157053332352[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246618289267 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246618289267[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001042324585386 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001042324585386[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915608216974 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915608216974[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001082377019606 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001082377019606[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000794591827993 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000794591827993[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027224533872 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027224533872[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076678633044 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076678633044[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037971036978 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001037971036978[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003462573634 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003462573634[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000975527940491 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000975527940491[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448711732642 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001448711732642[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001449968791640 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001449968791640[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234624096508 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234624096508[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001088615191376 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001088615191376[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000996021187186 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000996021187186[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168519186859 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168519186859[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044696318339 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001044696318339[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000970037358747 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000970037358747[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001143623118622 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001143623118622[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033276573716 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033276573716[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000968493859049 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000968493859049[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935464285735 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935464285735[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076431604296 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076431604296[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001171755496999 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001171755496999[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101819446038 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101819446038[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054396900584 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001054396900584[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001024525335184 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001024525335184[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352746554200 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352746554200[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203812699770 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203812699770[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001105858903752 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001105858903752[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046326885384 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046326885384[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014064941928 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014064941928[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000292167216 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001000292167216[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000998373649813 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000998373649813[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527272703892 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527272703892[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326192139359 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001326192139359[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193025983025 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193025983025[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110630625091 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110630625091[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064504486974 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064504486974[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403138922645 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001403138922645[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246397571817 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246397571817[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591061 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591061 ms (missed cycles : 3).[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148131681334 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148131681334[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091885214929 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001091885214929[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064409266890 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064409266890[0m ×2 + 8.73sWARNcontroller_managerOverrun might occur, Total time : 2015.476 us (Expected < 1666.667 us) --> Read time : 278.107 us, Update time : 70.211 us, Write time : 1667.158 us + 8.73sWARNros2_control_nodeOverrun might occur, Total time : 2015.476 us (Expected < 1666.667 us) --> Read time : 278.107 us, Update time : 70.211 us, Write time : 1667.158 us[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055609322518 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055609322518[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223232533696 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223232533696[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324271779283 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324271779283[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255454063088 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255454063088[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748161218514 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748161218514[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500339510155 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500339510155[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602170285803 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602170285803[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394392770555 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394392770555[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260158499051 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260158499051[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179962610228 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001179962610228[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530618800497 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001530618800497[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348995002544 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001348995002544[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235939275359 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001235939275359[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426650956549 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426650956549[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100490434154 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001100490434154[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712180018440 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712180018440[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527284115803 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001527284115803[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001883631415013 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001883631415013[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611621690855 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611621690855[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427191413230 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001427191413230[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309106310623 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309106310623[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668221727645 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668221727645[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001456794794438 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001456794794438[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323134473168 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001323134473168[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001245085874084 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001245085874084[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772695893989 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772695893989[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534546289902 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534546289902[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641062801502 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641062801502[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446144879535 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446144879535[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325729220616 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001325729220616[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258050791480 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258050791480[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001149073792138 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001149073792138[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812953321690 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812953321690[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673333172182 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001673333172182[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873876106888 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001873876106888[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245460818665 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002245460818665[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001870823445315 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001870823445315[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616399350832 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616399350832[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001228930734573 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001228930734573[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001338841786470 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001338841786470[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939346451314 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939346451314[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715433787123 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001715433787123[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150301107500 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150301107500[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210152682406 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210152682406[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853722602746 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853722602746[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001615215525443 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001615215525443[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464922794998 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001464922794998[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973208009720 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973208009720[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697008289748 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697008289748[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001520336779801 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001520336779801[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014939213669 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014939213669[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002032739473145 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002032739473145[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737306970018 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001737306970018[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001548398205752 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001548398205752[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933453832792 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933453832792[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671941230798 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671941230798[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001509107719020 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001509107719020[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895868523155 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895868523155[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001652966468961 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001652966468961[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502665209530 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502665209530[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002027351493750 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002027351493750[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001742932672895 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001742932672895[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206896465560 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002206896465560[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878805893324 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878805893324[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091175028068 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002091175028068[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001794025067720 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001794025067720[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604388091294 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001604388091294[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109987810197 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109987810197[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172571195800 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172571195800[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851536640176 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851536640176[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644973819090 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001644973819090[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002142982279790 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002142982279790[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205940949876 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205940949876[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001876453722240 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001876453722240[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709016121757 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709016121757[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002221663108240 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002221663108240[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438214121575 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438214121575[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046851544074 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046851544074[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787016200460 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001787016200460[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002253809521424 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002253809521424[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917746068581 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917746068581[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001745737533943 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001745737533943[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264600599637 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264600599637[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001920578442752 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001920578442752[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327152523980 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002327152523980[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001999208579102 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001999208579102[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420229070809 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420229070809[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039883671226 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002039883671226[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433175238765 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433175238765[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498080257405 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498080257405[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077067664624 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002077067664624[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805921239404 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805921239404[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216852562052 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216852562052[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896338780999 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001896338780999[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343402123554 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002343402123554[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983932273661 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983932273661[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397023521616 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002397023521616[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012763410187 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012763410187[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419592437511 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002419592437511[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425228529306 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425228529306[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033986792527 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002033986792527[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817696034258 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817696034258[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799277024391 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001799277024391[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370841352745 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370841352745[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724332996761 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724332996761[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739968 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739968 ms (missed cycles : 2).[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145165639997 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145165639997[0m ×2 + 9.74sWARNcontroller_managerOverrun might occur, Total time : 2151.838 us (Expected < 1666.667 us) --> Read time : 264.896 us, Update time : 420.209 us, Write time : 1466.733 us + 9.74sWARNros2_control_nodeOverrun might occur, Total time : 2151.838 us (Expected < 1666.667 us) --> Read time : 264.896 us, Update time : 420.209 us, Write time : 1466.733 us[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931819035465 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931819035465[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884311440208 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884311440208[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447372187071 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002447372187071[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792361377188 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792361377188[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215682820261 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215682820261[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587679778276 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587679778276[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828019022031 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828019022031[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895324244227 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895324244227[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345229314914 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002345229314914[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655995089724 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655995089724[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186641960349 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186641960349[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559679839273 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559679839273[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684790990334 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002684790990334[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385246100365 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001385246100365[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191101891323 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002191101891323[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002695983566890 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002695983566890[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991686852774 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991686852774[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148620683677 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148620683677[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381946773954 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381946773954[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687533831121 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687533831121[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900726284136 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002900726284136[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351206630952 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002351206630952[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679134164289 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679134164289[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913722806874 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913722806874[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358939525953 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358939525953[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686566242441 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686566242441[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813860158048 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002813860158048[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298634732521 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298634732521[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963891903833 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963891903833[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498278452146 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498278452146[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840629511196 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840629511196[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277827803053 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277827803053[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634449435357 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634449435357[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894461920605 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894461920605[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055016947678 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055016947678[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058245501471 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058245501471[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461839925254 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461839925254[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769172847597 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769172847597[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157782561046 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002157782561046[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622952291626 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622952291626[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064288096553 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064288096553[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196780106071 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196780106071[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570146792627 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570146792627[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002856568697730 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002856568697730[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040172460654 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040172460654[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456620407022 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456620407022[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781231847164 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781231847164[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994537326224 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994537326224[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124799792052 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003124799792052[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511998136179 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002511998136179[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818950167758 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818950167758[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020784127366 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020784127366[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147205980289 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003147205980289[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521547676939 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002521547676939[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825231785171 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002825231785171[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026876594319 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026876594319[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154637776481 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154637776481[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225709461966 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003225709461966[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572468342784 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572468342784[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860478389770 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860478389770[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052187447185 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052187447185[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295550803014 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295550803014[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620950543287 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620950543287[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895501322054 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895501322054[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077784808064 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077784808064[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321810719691 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003321810719691[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002388671484384 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002388671484384[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079256807544 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079256807544[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639205556409 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639205556409[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995662373014 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995662373014[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208919062734 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208919062734[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046462191589 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046462191589[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849075338086 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849075338086[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975412148103 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002975412148103[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116276093767 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116276093767[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570588641379 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003570588641379[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462797386375 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002462797386375[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303515171647 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303515171647[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348647260074 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348647260074[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368125434881 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003368125434881[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372861787859 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372861787859[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370073454453 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370073454453[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364273161882 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003364273161882[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377771665322 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377771665322[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069943093236 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002069943093236[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644306655074 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644306655074[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012919895362 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012919895362[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562048625593 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562048625593[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573559984046 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573559984046[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697418522893 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697418522893[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448750902805 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002448750902805[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928755462239 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928755462239[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778018557537 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778018557537[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747926749722 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003747926749722[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685521178018 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685521178018[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614109116392 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003614109116392[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464230279088 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464230279088[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078182862632 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078182862632[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958827400275 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958827400275[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031830937053 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031830937053[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788672361547 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788672361547[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003617407960390 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003617407960390[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502384340083 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003502384340083[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429304816728 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429304816728[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890652855708 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890652855708[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003674545507330 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003674545507330[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531662622842 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003531662622842[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781509588632 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781509588632[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265715 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265715 ms (missed cycles : 4).[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598520370025 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003598520370025[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001810504085026 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001810504085026[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815380116862 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003815380116862[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752497816977 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003752497816977[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607233154185 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607233154185[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212157468024 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212157468024[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917140024800 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917140024800[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706235573109 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003706235573109[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169071292095 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169071292095[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851370021394 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851370021394[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637060408436 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637060408436[0m ×2 + 10.86sWARNcontroller_managerOverrun might occur, Total time : 3175.323 us (Expected < 1666.667 us) --> Read time : 535.933 us, Update time : 155.803 us, Write time : 2483.587 us + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499693220495 + 10.86sWARNros2_control_nodeOverrun might occur, Total time : 3175.323 us (Expected < 1666.667 us) --> Read time : 535.933 us, Update time : 155.803 us, Write time : 2483.587 us[0m ×2 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499693220495[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417132702249 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003417132702249[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371885088956 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371885088956[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350775368083 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350775368083[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206932297682 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206932297682[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879469784448 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879469784448[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658107215387 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658107215387[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121500602156 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121500602156[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805189929537 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805189929537[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171698515863 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171698515863[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659408391308 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659408391308[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278634506320 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278634506320[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967859604136 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967859604136[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824580100509 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824580100509[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278490191829 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278490191829[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899336258666 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899336258666[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647801847819 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647801847819[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489601211271 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003489601211271[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346116256720 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346116256720[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931914491189 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931914491189[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659368575162 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659368575162[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515618677406 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515618677406[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024456788351 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024456788351[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702532643628 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702532643628[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165761006521 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004165761006521[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003792234582294 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003792234582294[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556264953533 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556264953533[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416692008244 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416692008244[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272326651622 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272326651622[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876109049559 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003876109049559[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802561281040 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802561281040[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875960430992 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875960430992[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527170638585 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527170638585[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290095781555 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004290095781555[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127992561181 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127992561181[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036392187943 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036392187943[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147037388461 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005147037388461[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005811330107611 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005811330107611[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884461690780 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884461690780[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883182214491 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883182214491[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198645286266 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198645286266[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087654082276 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087654082276[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160677787750 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005160677787750[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357452193337 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357452193337[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833864766255 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833864766255[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844738574634 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844738574634[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979470200138 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979470200138[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120234249545 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120234249545[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852170011445 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852170011445[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951701013214 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951701013214[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629526823436 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629526823436[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687530833537 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687530833537[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145930494689 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145930494689[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339201901706 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339201901706[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139072141611 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139072141611[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315396541137 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004315396541137[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772835693947 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772835693947[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067908212243 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004067908212243[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946788415276 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946788415276[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186395337138 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186395337138[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029803130047 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029803130047[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225393397758 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225393397758[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031665786423 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005031665786423[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165078551106 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165078551106[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108004268848 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004108004268848[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005003256103010 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005003256103010[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005562527442295 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005562527442295[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601470492131 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601470492131[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596145971183 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596145971183[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005248225026596 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005248225026596[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340766256067 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340766256067[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177684851630 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177684851630[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278176546560 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278176546560[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014733501816 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014733501816[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994479430038 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994479430038[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897273617946 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897273617946[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464129595455 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005464129595455[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914320193101 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914320193101[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360623572533 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360623572533[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098534933037 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098534933037[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554017869376 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554017869376[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006002277440465 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006002277440465[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794049089850 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794049089850[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294574870255 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294574870255[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603210850327 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603210850327[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844842488261 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844842488261[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200021169149 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200021169149[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929736904971 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929736904971[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921884325302 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003921884325302[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439505900477 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005439505900477[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749629998018 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749629998018[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902118378408 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902118378408[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005955204623440 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005955204623440[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194394857372 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194394857372[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819408206299 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819408206299[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205631982235 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205631982235[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453081937979 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005453081937979[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893136598761 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005893136598761[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873670578076 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873670578076[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780390 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780390 ms (missed cycles : 4).[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835887143388 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005835887143388[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007685963956 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007685963956[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190454131678 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190454131678[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952575427726 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952575427726[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411545541812 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411545541812[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898476076809 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006898476076809[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006583521208298 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006583521208298[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302861430417 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302861430417[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069565520858 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069565520858[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502208154896 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502208154896[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006153499164736 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006153499164736[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006342049773218 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006342049773218[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468039664630 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468039664630[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143251477561 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143251477561[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899159706287 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005899159706287[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722243591039 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722243591039[0m ×2 + 11.94sWARNcontroller_managerOverrun might occur, Total time : 4274.628 us (Expected < 1666.667 us) --> Read time : 214.065 us, Update time : 3519.001 us, Write time : 541.562 us + 11.95sWARNros2_control_nodeOverrun might occur, Total time : 4274.628 us (Expected < 1666.667 us) --> Read time : 214.065 us, Update time : 3519.001 us, Write time : 541.562 us[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006149872231682 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006149872231682[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909758592128 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002909758592128[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072326496954 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003072326496954[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228002827742 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228002827742[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007221246114207 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007221246114207[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006768386789624 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006768386789624[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008211612314261 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008211612314261[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717549358424 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005717549358424[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006228205927410 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006228205927410[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008240379463649 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008240379463649[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008657736184868 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008657736184868[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007440354163621 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007440354163621[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006564076263151 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006564076263151[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959734952246 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959734952246[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007374482711294 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007374482711294[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435981229938 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435981229938[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810960755823 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005810960755823[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416021585175 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416021585175[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182532583704 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182532583704[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249875566815 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249875566815[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006353802596571 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006353802596571[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751768407995 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751768407995[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366652955767 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366652955767[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006751575008643 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006751575008643[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005989375210388 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005989375210388[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490989108270 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005490989108270[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867776570719 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867776570719[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216320789598 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004216320789598[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617234900179 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617234900179[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093683155087 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093683155087[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008579699309584 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008579699309584[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009382293352884 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009382293352884[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009445029784733 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009445029784733[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007659146765875 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007659146765875[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425141111765 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425141111765[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007716560118865 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007716560118865[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006402427364489 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006402427364489[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007737090389444 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007737090389444[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056950615845 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056950615845[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007457941135523 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007457941135523[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008172726445771 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008172726445771[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006683151874201 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006683151874201[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007758235799034 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007758235799034[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348517928192 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348517928192[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655194293237 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007655194293237[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240485135446 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240485135446[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221723969968 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221723969968[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400722633171 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400722633171[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746422613517 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746422613517[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008504715294288 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008504715294288[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008868225413933 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008868225413933[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008980865460123 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008980865460123[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009351349504445 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009351349504445[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007193076989258 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007193076989258[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746630282850 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746630282850[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008068485328738 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008068485328738[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008744033621742 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008744033621742[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006690653800219 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006690653800219[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007320515981674 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007320515981674[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007716074432682 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007716074432682[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008382421405897 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008382421405897[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008348823367465 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008348823367465[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008275059897047 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008275059897047[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008183366746668 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008183366746668[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008375414681405 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008375414681405[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008204725102898 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008204725102898[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008059881211551 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008059881211551[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806006435069 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806006435069[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009167578973185 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009167578973185[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008705825958443 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008705825958443[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009875851156202 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009875851156202[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009038322452194 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009038322452194[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007259705813467 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007259705813467[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010857884817776 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010857884817776[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691570707407 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009691570707407[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010819873979062 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010819873979062[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497023175802 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009497023175802[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008535628793755 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008535628793755[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007863470088540 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007863470088540[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009910299024464 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009910299024464[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008658421976974 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008658421976974[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007808991496266 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007808991496266[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010416501648141 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010416501648141[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010733385570107 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010733385570107[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009035928220034 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009035928220034[0m ×2 + 12.76sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177623 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177623 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun might occur, Total time : 2048.327 us (Expected < 1666.667 us) --> Read time : 601.974 us, Update time : 725.637 us, Write time : 720.716 us + 13.13sWARNros2_control_nodeOverrun might occur, Total time : 2048.327 us (Expected < 1666.667 us) --> Read time : 601.974 us, Update time : 725.637 us, Write time : 720.716 us[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103027 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103027 ms (missed cycles : 2).[0m ×2 + 14.24sWARNcontroller_managerOverrun might occur, Total time : 3124.271 us (Expected < 1666.667 us) --> Read time : 1798.701 us, Update time : 814.139 us, Write time : 511.431 us + 14.24sWARNros2_control_nodeOverrun might occur, Total time : 3124.271 us (Expected < 1666.667 us) --> Read time : 1798.701 us, Update time : 814.139 us, Write time : 511.431 us[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551174669323 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551174669323[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000616875355964 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000616875355964[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000879528194469 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000879528194469[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014035613397 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014035613397[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313654529686 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313654529686[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241771032666 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001241771032666[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630236801236 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001630236801236[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830194052806 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830194052806[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435442337177 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435442337177[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524173881244 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001524173881244[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214762302120 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214762302120[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001012208056010 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001012208056010[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888566738698 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888566738698[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820504363199 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000820504363199[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000790042343568 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000790042343568[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958009761286 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958009761286[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925433 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925433 ms (missed cycles : 2).[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000943763773847 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000943763773847[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000857487843545 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000857487843545[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515449639326 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515449639326[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301708821116 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301708821116[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024026977491 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024026977491[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010963028589 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010963028589[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022499686816 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022499686816[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526257641713 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526257641713[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761823902431 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003761823902431[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284953718188 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284953718188[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965887243080 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965887243080[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765941860029 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765941860029[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650755362058 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002650755362058[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002592490125253 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002592490125253[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409744746166 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409744746166[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043329014244 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043329014244[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810435093654 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810435093654[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673343350153 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673343350153[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601331156878 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002601331156878[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570745667239 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002570745667239[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564416074800 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002564416074800[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381544295908 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381544295908[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042352010961 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042352010961[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822845807670 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822845807670[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690418610860 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690418610860[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501981813566 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501981813566[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087820923485 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003087820923485[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655873120936 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655873120936[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012321322318 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012321322318[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439502011548 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439502011548[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727158183494 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727158183494[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235012379078 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235012379078[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914900635856 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914900635856[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345233796183 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345233796183[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972435548953 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972435548953[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745588212498 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745588212498[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620627863934 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620627863934[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420349505130 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003420349505130[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236092359532 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236092359532[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947573243410 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947573243410[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768233899134 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768233899134[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562339469575 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562339469575[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126679134742 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126679134742[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850351265083 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850351265083[0m ×2 + 15.28sWARNcontroller_managerOverrun might occur, Total time : 4248.177 us (Expected < 1666.667 us) --> Read time : 227.875 us, Update time : 103.732 us, Write time : 3916.570 us + 15.28sWARNros2_control_nodeOverrun might occur, Total time : 4248.177 us (Expected < 1666.667 us) --> Read time : 227.875 us, Update time : 103.732 us, Write time : 3916.570 us[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687694944842 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687694944842[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623121543291 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623121543291[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748917756890 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748917756890[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235505914201 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003235505914201[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309894499751 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309894499751[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645821278968 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003645821278968[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415818231904 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415818231904[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641404324696 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641404324696[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128702890115 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128702890115[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811933190609 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811933190609[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588255171867 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588255171867[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088651367228 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003088651367228[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785732793757 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785732793757[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619239558120 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619239558120[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400621811813 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400621811813[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996053476866 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002996053476866[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753146277458 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753146277458[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533267660852 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003533267660852[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074213896241 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074213896241[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794386817811 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794386817811[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215673889822 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215673889822[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883277333566 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883277333566[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689765687239 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002689765687239[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005071055949 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003005071055949[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167224371974 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003167224371974[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178570505286 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178570505286[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585783843919 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585783843919[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612781612774 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612781612774[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687352849317 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687352849317[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914944118588 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914944118588[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590245396425 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590245396425[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742121094044 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742121094044[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182750099357 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003182750099357[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933215458453 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933215458453[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280543498310 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280543498310[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877298803403 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877298803403[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632147523679 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632147523679[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092382274314 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092382274314[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770100329887 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002770100329887[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002595583813726 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002595583813726[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356176547843 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003356176547843[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652466689501 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652466689501[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106640140694 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106640140694[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509887027678 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003509887027678[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377454991925 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377454991925[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650577996573 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650577996573[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335845397481 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335845397481[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537862570272 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537862570272[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029085801768 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029085801768[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766191519245 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766191519245[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163736734608 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163736734608[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799442355100 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799442355100[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541911324632 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003541911324632[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036023164861 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036023164861[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737143087336 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737143087336[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782304732565 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782304732565[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995276016597 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995276016597[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315053833303 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003315053833303[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112945245843 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112945245843[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399357236661 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399357236661[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003792574330695 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003792574330695[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185748719939 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185748719939[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818399820751 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818399820751[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804236040878 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804236040878[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014767658138 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014767658138[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325108704234 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325108704234[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707660 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707660 ms (missed cycles : 2).[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899941097038 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899941097038[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962832442562 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962832442562[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686201363262 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686201363262[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348017490394 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348017490394[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549473710241 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549473710241[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040294588301 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040294588301[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902784261603 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902784261603[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246915213313 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246915213313[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003258127830 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003258127830[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292895995894 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292895995894[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678297277385 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003678297277385[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089299714943 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089299714943[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902118178005 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902118178005[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230802385208 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230802385208[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946155576652 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946155576652[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312432876095 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312432876095[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121567420432 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121567420432[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020713697229 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020713697229[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518121660384 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518121660384[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629509644010 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629509644010[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705892776775 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705892776775[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264261301783 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264261301783[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438358046991 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438358046991[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822129011320 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822129011320[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161683491251 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161683491251[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929703811056 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003929703811056[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134831257850 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134831257850[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282014108161 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282014108161[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060950100339 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060950100339[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941464991547 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941464991547[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435034022920 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435034022920[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581217756437 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581217756437[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164041084576 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164041084576[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535830756895 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535830756895[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601164001424 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601164001424[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140753090422 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140753090422[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336477478491 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336477478491[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977461549456 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003977461549456[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239263049682 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239263049682[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924946031054 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924946031054[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124293905173 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124293905173[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333711190687 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333711190687[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976577055724 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976577055724[0m ×2 + 16.30sWARNcontroller_managerOverrun might occur, Total time : 4015.682 us (Expected < 1666.667 us) --> Read time : 241.026 us, Update time : 3269.075 us, Write time : 505.581 us + 16.30sWARNros2_control_nodeOverrun might occur, Total time : 4015.682 us (Expected < 1666.667 us) --> Read time : 241.026 us, Update time : 3269.075 us, Write time : 505.581 us[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190833292178 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190833292178[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997185152729 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997185152729[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854025426333 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854025426333[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334168085762 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004334168085762[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581808239696 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004581808239696[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775936436694 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775936436694[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738625387074 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738625387074[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298415186661 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298415186661[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669982698039 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002669982698039[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764309937120 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764309937120[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338525520751 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338525520751[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614947814491 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614947814491[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721108686157 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004721108686157[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370731191217 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370731191217[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088908285626 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088908285626[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313651473387 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313651473387[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432464256739 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432464256739[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445000527878 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445000527878[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915339727978 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915339727978[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265862915677 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265862915677[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354710521390 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354710521390[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883580166472 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883580166472[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197873282946 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197873282946[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300136813839 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300136813839[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389116886763 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003389116886763[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911916210753 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911916210753[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211011687502 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211011687502[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398660766261 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398660766261[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575506510215 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002575506510215[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542231738243 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542231738243[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091283153638 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091283153638[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384198750349 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004384198750349[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017695707045 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017695707045[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898623796297 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898623796297[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757337235527 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757337235527[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075776585875 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075776585875[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705953175321 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004705953175321[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611003333594 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611003333594[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974095946388 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974095946388[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181380884524 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181380884524[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004297804971266 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004297804971266[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357800546354 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357800546354[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372908317308 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372908317308[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003041666477 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003041666477[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183121713178 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183121713178[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274400089930 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274400089930[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327389380641 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327389380641[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503061798614 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503061798614[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455104911314 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455104911314[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997589127681 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003997589127681[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288777700445 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288777700445[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425753482546 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425753482546[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472223568240 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472223568240[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469706904110 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469706904110[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079762638550 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005079762638550[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809889992025 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809889992025[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613714516550 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613714516550[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477094632862 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477094632862[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386010920561 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386010920561[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414017273263 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414017273263[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344426456662 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344426456662[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300791878286 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300791878286[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352274376668 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004352274376668[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304655331306 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304655331306[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274204857457 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274204857457[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254359421479 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254359421479[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348718541417 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348718541417[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299280149730 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299280149730[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695956 ms (missed cycles : 4). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695956 ms (missed cycles : 4).[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267110214084 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267110214084[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421701746266 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421701746266[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003307224769467 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003307224769467[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806331138071 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806331138071[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026821349422 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026821349422[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335217798743 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002335217798743[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289565992990 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289565992990[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816666332302 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003816666332302[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878837127450 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878837127450[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006413055814001 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006413055814001[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559878726194 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559878726194[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864758645922 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864758645922[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154212194586 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154212194586[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674922502196 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004674922502196[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979874111134 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979874111134[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551225867177 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551225867177[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283753544817 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283753544817[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126874096375 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126874096375[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672864870600 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672864870600[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678296954259 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678296954259[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435753314780 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435753314780[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299356822493 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299356822493[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204971906506 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204971906506[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134733452321 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134733452321[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159492525229 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159492525229[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695984402265 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695984402265[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385527556783 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004385527556783[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184198654352 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184198654352[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731884880665 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004731884880665[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387337215880 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387337215880[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168343790526 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004168343790526[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034485123775 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034485123775[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576280783815 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576280783815[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280897010338 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280897010338[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642841982771 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642841982771[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224547976347 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224547976347[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050929819660 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050929819660[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960820133444 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960820133444[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938396670318 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938396670318[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493456395137 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493456395137[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200118919342 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200118919342[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168708898882 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168708898882[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593397527153 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593397527153[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221767157549 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221767157549[0m ×2 + 17.36sWARNcontroller_managerOverrun might occur, Total time : 2284.942 us (Expected < 1666.667 us) --> Read time : 878.170 us, Update time : 103.112 us, Write time : 1303.660 us + 17.37sWARNros2_control_nodeOverrun might occur, Total time : 2284.942 us (Expected < 1666.667 us) --> Read time : 878.170 us, Update time : 103.112 us, Write time : 1303.660 us[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991059021285 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991059021285[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855198901232 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855198901232[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780142715676 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003780142715676[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314258117350 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005314258117350[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595032083642 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595032083642[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542668079389 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542668079389[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013093171898 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013093171898[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393469916712 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393469916712[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059864238295 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059864238295[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388316047400 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388316047400[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005463585008978 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005463585008978[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648171686724 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648171686724[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169887300620 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004169887300620[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883816218263 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003883816218263[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223905779335 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223905779335[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533854486949 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533854486949[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040859548499 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004040859548499[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254501217677 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254501217677[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502683036931 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502683036931[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638404628618 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638404628618[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119587247488 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119587247488[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260346755659 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260346755659[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005299115656305 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005299115656305[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467363910033 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467363910033[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001813687935 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001813687935[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193987994388 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005193987994388[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767977565113 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003767977565113[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807360188330 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807360188330[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005703718313794 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005703718313794[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143143546338 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006143143546338[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010207904117 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010207904117[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293337521122 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004293337521122[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234528956689 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234528956689[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467943897250 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005467943897250[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498876705096 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498876705096[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297277377846 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297277377846[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361350156175 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004361350156175[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184605795640 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184605795640[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273927550690 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273927550690[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709997028894 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709997028894[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026098048277 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026098048277[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976314521679 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976314521679[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516415523577 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003516415523577[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582467790109 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003582467790109[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685895555434 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685895555434[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005331010967337 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005331010967337[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085569260867 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006085569260867[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910866971963 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910866971963[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499441490835 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499441490835[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323899572694 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323899572694[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005103505410357 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005103505410357[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409013542284 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005409013542284[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006141814628934 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006141814628934[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865121083568 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865121083568[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255979031654 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255979031654[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381964403904 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381964403904[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287239287598 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287239287598[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013841865331 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013841865331[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996005150873 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996005150873[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252525000066 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252525000066[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362680053347 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362680053347[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003510 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003510 ms (missed cycles : 2).[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267101361715 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267101361715[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792389371609 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792389371609[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014033214567 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014033214567[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213634098632 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213634098632[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150317023973 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150317023973[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703481900257 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703481900257[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947614738145 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947614738145[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311606189365 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311606189365[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282638422879 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282638422879[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026161674786 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026161674786[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564077514790 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564077514790[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773669847551 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005773669847551[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630565520564 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630565520564[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479791944362 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479791944362[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339485206518 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005339485206518[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443439458156 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005443439458156[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325361533312 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325361533312[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221042340536 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221042340536[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130313923370 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130313923370[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723014726258 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003723014726258[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894769222249 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004894769222249[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911365833806 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911365833806[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912858958759 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912858958759[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252309209719 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252309209719[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100919591658 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005100919591658[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982201521941 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886628664548 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982201521941[0m ×2 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004886628664548[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526509049795 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005526509049795[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088724147650 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005088724147650[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836298103943 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836298103943[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291059692675 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291059692675[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462953841006 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462953841006[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055812995758 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055812995758[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789128309736 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789128309736[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377076240993 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005377076240993[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981125432326 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004981125432326[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724576434561 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724576434561[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555835531560 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004555835531560[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444929121210 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444929121210[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028007788504 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028007788504[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729189159242 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729189159242[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527875923049 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527875923049[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109520310339 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109520310339[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747163608293 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004747163608293[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510513670584 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510513670584[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363637685559 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363637685559[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434560703328 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434560703328[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004948862157788 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004948862157788[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004623914221672 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004623914221672[0m ×2 + 18.41sWARNcontroller_managerOverrun might occur, Total time : 12126.868 us (Expected < 1666.667 us) --> Read time : 228.915 us, Update time : 11282.559 us, Write time : 615.394 us + 18.41sWARNros2_control_nodeOverrun might occur, Total time : 12126.868 us (Expected < 1666.667 us) --> Read time : 228.915 us, Update time : 11282.559 us, Write time : 615.394 us[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728181578580 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004728181578580[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853962459547 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004853962459547[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318682417479 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006318682417479[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006629333956888 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006629333956888[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751098576885 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751098576885[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616664463900 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616664463900[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004925783703772 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004925783703772[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422883015533 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422883015533[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007295969751594 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007295969751594[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105175997545 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105175997545[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006672289936523 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006672289936523[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622321198225 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622321198225[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910641076994 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910641076994[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086180967061 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006086180967061[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006391078118427 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006391078118427[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381516192500 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381516192500[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715132726292 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715132726292[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922576195364 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922576195364[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940066432130 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940066432130[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633018680036 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633018680036[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005963224895346 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005963224895346[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773679029978 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773679029978[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007326479209547 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007326479209547[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967577940623 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005967577940623[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637934141369 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006637934141369[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433878739333 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433878739333[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006447417471962 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006447417471962[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274557875346 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005274557875346[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006099842989459 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006099842989459[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006644909924964 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006644909924964[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379047486542 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379047486542[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132261144658 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132261144658[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006603245413403 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006603245413403[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688809562210 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688809562210[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928117606139 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928117606139[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005861098506358 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005861098506358[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006443003025464 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006443003025464[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006775354275108 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006775354275108[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007307238708591 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007307238708591[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729108399867 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005729108399867[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227772899619 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227772899619[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006530205782586 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006530205782586[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056514067515 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007056514067515[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654570171338 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654570171338[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043582428634 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043582428634[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006824937588329 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006824937588329[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007022905521514 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007022905521514[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992028780678 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992028780678[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768652711362 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768652711362[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007524705329961 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007524705329961[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007319175460039 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007319175460039[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007101584339566 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007101584339566[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006897896625641 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006897896625641[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006720260490334 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006720260490334[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572194872782 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006572194872782[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006452272105132 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006452272105132[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006356606247734 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006356606247734[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280439071521 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280439071521[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006219075761318 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006219075761318[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008805884015717 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008805884015717[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786229 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786229 ms (missed cycles : 2).[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746684662221 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007746684662221[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234070369894 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008234070369894[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007298750875097 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007298750875097[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006660585740141 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006660585740141[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243333449847 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243333449847[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007882724286482 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007882724286482[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006989569516917 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006989569516917[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006394330788614 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006394330788614[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008551076863912 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008551076863912[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005684991006264 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005684991006264[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546241840359 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546241840359[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008744265327564 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008744265327564[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010023302823168 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010023302823168[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008225170951187 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008225170951187[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416850131925 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416850131925[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009661126215662 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009661126215662[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007805159473614 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007805159473614[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008966714355927 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008966714355927[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007256635613292 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007256635613292[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008510259200533 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008510259200533[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009256320171707 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009256320171707[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007325037975338 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007325037975338[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799440247883 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008799440247883[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009278617126983 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009278617126983[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225083046134 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007225083046134[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760231095784 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760231095784[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474567905246 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474567905246[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005577731776869 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005577731776869[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008176496144805 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008176496144805[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009082461400905 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009082461400905[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013502257107865 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013502257107865[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013718576016353 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013718576016353[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009519485012418 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009519485012418[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013242754039074 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013242754039074[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011496615802465 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011496615802465[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010184718041457 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010184718041457[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009234321969267 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009234321969267[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012242130802581 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012242130802581[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012608706413635 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012608706413635[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010553274030657 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010553274030657[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009135268936983 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009135268936983[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011725297938620 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011725297938620[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009733034178247 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009733034178247[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011827494569244 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011827494569244[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009620540268640 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009620540268640[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011487086869012 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011487086869012[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012616990336760 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012616990336760[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009934436048423 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009934436048423[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011380083181562 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011380083181562[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012150140973327 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012150140973327[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012463981921957 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012463981921957[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009551760825547 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009551760825547[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010715892850150 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010715892850150[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007720959766936 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007720959766936[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009562516038415 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009562516038415[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010620650271174 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010620650271174[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011125549719975 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011125549719975[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017164390674907 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017164390674907[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014838032649933 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014838032649933[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013027108822619 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013027108822619[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011662257050487 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011662257050487[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010659989611995 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010659989611995[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013609957305876 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013609957305876[0m ×2 + 19.59sWARNcontroller_managerOverrun might occur, Total time : 1694.619 us (Expected < 1666.667 us) --> Read time : 247.236 us, Update time : 84.062 us, Write time : 1363.321 us + 19.59sWARNros2_control_nodeOverrun might occur, Total time : 1694.619 us (Expected < 1666.667 us) --> Read time : 247.236 us, Update time : 84.062 us, Write time : 1363.321 us[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011683775372714 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011683775372714[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296223424294 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296223424294[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007173120506074 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007173120506074[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012224665669983 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012224665669983[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010742049758786 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010742049758786[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009649560047058 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009649560047058[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863507860731 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863507860731[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013520506299103 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013520506299103[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011062003047600 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011062003047600[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461789513530 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003461789513530[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090561654533 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005090561654533[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154759714031 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154759714031[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006788591475328 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006788591475328[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007110294828687 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007110294828687[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007216358298880 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007216358298880[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011155051480874 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011155051480874[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009511472214749 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009511472214749[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273976985459 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273976985459[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011980733793671 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011980733793671[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009565592566675 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009565592566675[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007874624062289 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007874624062289[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006737550351260 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006737550351260[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010145899482725 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010145899482725[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008024509883652 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008024509883652[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006610078269315 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006610078269315[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009814601483643 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009814601483643[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349050 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349050 ms (missed cycles : 2).[0m ×2 + 20.63sWARNcontroller_managerOverrun might occur, Total time : 2150.950 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 78.511 us, Write time : 1799.762 us + 20.63sWARNros2_control_nodeOverrun might occur, Total time : 2150.950 us (Expected < 1666.667 us) --> Read time : 272.677 us, Update time : 78.511 us, Write time : 1799.762 us[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994020 ms (missed cycles : 3). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994020 ms (missed cycles : 3).[0m ×2 + 21.63sWARNcontroller_managerOverrun might occur, Total time : 1805.151 us (Expected < 1666.667 us) --> Read time : 804.729 us, Update time : 83.301 us, Write time : 917.121 us + 21.63sWARNros2_control_nodeOverrun might occur, Total time : 1805.151 us (Expected < 1666.667 us) --> Read time : 804.729 us, Update time : 83.301 us, Write time : 917.121 us[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044345583394184 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044345583394184[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031776484389284 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031776484389284[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021370389216920 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021370389216920[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017645104323391 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017645104323391[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014620819471727 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014620819471727[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016533816551303 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016533816551303[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022387093434382 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022387093434382[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015832972712474 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015832972712474[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015140344035348 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015140344035348[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013800078458050 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013800078458050[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017517958100839 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017517958100839[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014135004702719 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014135004702719[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016163628365525 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016163628365525[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015664269714647 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015664269714647[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013891846776162 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013891846776162[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020568159224649 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020568159224649[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016016804363668 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016016804363668[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011432238993243 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011432238993243[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012492422337462 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012492422337462[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010519135676705 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010519135676705[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007218676698957 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007218676698957[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161296895281 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004161296895281[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224467344635 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224467344635[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756590087130 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756590087130[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567556273040 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001567556273040[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968057046593 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001968057046593[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700460433434 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000700460433434[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233583690045 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000233583690045[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000914592770962 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000914592770962[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925572517553 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925572517553[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809563039783 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809563039783[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707485939885 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002707485939885[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658722153932 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658722153932[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002637869220151 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002637869220151[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630200130769 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630200130769[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472113650838 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472113650838[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397300 ms (missed cycles : 3). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397300 ms (missed cycles : 3).[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112622132547 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112622132547[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203617831064 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203617831064[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446089866074 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446089866074[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099781983779 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099781983779[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868618686571 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868618686571[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723272075159 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723272075159[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173548268990 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003173548268990[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899246964785 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899246964785[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109145308029 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109145308029[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233362055645 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233362055645[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292915181527 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003292915181527[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039842229918 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039842229918[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856701801264 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856701801264[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338474983219 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338474983219[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990263079832 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990263079832[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631717880575 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631717880575[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025131094646 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025131094646[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490113039508 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490113039508[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114997415615 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003114997415615[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923026965957 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923026965957[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337937096163 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337937096163[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956320883917 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956320883917[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725311202890 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725311202890[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599162349038 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599162349038[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002541528542259 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002541528542259[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525254107558 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002525254107558[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845229615912 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845229615912[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293205603325 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293205603325[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937252070021 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937252070021[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372747261492 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372747261492[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976727243020 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976727243020[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737821431339 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737821431339[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003174638568382 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003174638568382[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860626827403 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860626827403[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677304440611 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677304440611[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611903533244 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002611903533244[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002739973983542 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002739973983542[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076740618680 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076740618680[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521803316340 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003521803316340[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132414265965 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132414265965[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923357293250 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003923357293250[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337616733264 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337616733264[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956484663917 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956484663917[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725816476191 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725816476191[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519715091036 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003519715091036[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062579078899 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062579078899[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782356947258 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782356947258[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625556049579 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625556049579[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833118567968 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833118567968[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254834516691 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254834516691[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002892548184943 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002892548184943[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318809257185 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318809257185[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931154723901 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931154723901[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703495385043 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002703495385043[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583659769642 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583659769642[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605639518230 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605639518230[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973897187835 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973897187835[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694769770031 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694769770031[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823224715919 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823224715919[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239071648943 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003239071648943[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871985745168 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002871985745168[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644759432962 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644759432962[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113364902212 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003113364902212[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789989583825 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002789989583825[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862173498373 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003862173498373[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927466707352 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927466707352[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282399697827 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003282399697827[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884371834974 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884371834974[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658630691973 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002658630691973[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434122787489 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434122787489[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997517438844 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997517438844[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737985062996 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737985062996[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512884527105 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512884527105[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048597427261 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048597427261[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768393975723 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002768393975723[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863866124201 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863866124201[0m ×2 + 22.77sWARNcontroller_managerOverrun might occur, Total time : 2579.759 us (Expected < 1666.667 us) --> Read time : 323.817 us, Update time : 1729.840 us, Write time : 526.102 us + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983521342303 + 22.78sWARNros2_control_nodeOverrun might occur, Total time : 2579.759 us (Expected < 1666.667 us) --> Read time : 323.817 us, Update time : 1729.840 us, Write time : 526.102 us[0m ×2 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983521342303[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002710706731260 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002710706731260[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907260360986 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907260360986[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562443599109 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004562443599109[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701154843108 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003701154843108[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215284111536 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003215284111536[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115566152249 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003115566152249[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140252160568 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003140252160568[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003543976410782 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003543976410782[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345384778319 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345384778319[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588131658664 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588131658664[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281730419494 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281730419494[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397949728977 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397949728977[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550758084991 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550758084991[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016538750379 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016538750379[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907274109432 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907274109432[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023476476907 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023476476907[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305260980156 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305260980156[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868295026718 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002868295026718[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527017071249 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527017071249[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804649345983 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804649345983[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494087575529 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004494087575529[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679987020501 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679987020501[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309533724451 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309533724451[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521002785670 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521002785670[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618253919815 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618253919815[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047060777867 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047060777867[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892423218756 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892423218756[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103320783407 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103320783407[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343810332122 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343810332122[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055451208613 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055451208613[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301578217052 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301578217052[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693977981030 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693977981030[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079555540749 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079555540749[0m ×2 + 23.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035116 ms (missed cycles : 2). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035116 ms (missed cycles : 2).[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904512000267 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904512000267[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212323702544 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212323702544[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930915478165 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930915478165[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272494577422 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272494577422[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038414702560 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038414702560[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314686136583 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003314686136583[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032294866477 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032294866477[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297233502570 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297233502570[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016713932212 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004016713932212[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274174011717 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274174011717[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987815774994 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987815774994[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252312264482 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003252312264482[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969281780615 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969281780615[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240784357870 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003240784357870[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002987810928701 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002987810928701[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874436963646 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874436963646[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373500025578 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373500025578[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576042714227 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576042714227[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639804960320 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639804960320[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179897250511 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179897250511[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360285100220 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360285100220[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059151477736 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059151477736[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206617695993 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206617695993[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937803230394 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937803230394[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355521239718 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355521239718[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474272210876 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474272210876[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053175057304 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053175057304[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274115431166 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274115431166[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964857740055 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964857740055[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217257986225 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217257986225[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899277500761 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899277500761[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284048122753 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284048122753[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341946894550 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004341946894550[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433533547406 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433533547406[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996528055587 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996528055587[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221226208744 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221226208744[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461747955206 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002461747955206[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599081813786 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599081813786[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220536422457 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220536422457[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449369020101 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005449369020101[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209734931132 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004209734931132[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460544123947 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460544123947[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571959404519 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004571959404519[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548067308563 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548067308563[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213992590329 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213992590329[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159079676791 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003159079676791[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387017539714 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387017539714[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533020198600 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004533020198600[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529708998193 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003529708998193[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995752228721 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995752228721[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349791354809 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349791354809[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409764467057 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003409764467057[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268026245138 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002268026245138[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518451619412 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518451619412[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171832548697 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171832548697[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491511894229 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004491511894229[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004621440691930 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004621440691930[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328315690295 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003328315690295[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911259826486 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911259826486[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680223333466 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680223333466[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857976508529 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004857976508529[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847190352185 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004847190352185[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809584990362 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809584990362[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750351570064 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004750351570064[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938451146937 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938451146937[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755221064512 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755221064512[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083771982030 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083771982030[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269361127772 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004269361127772[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372430422822 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004372430422822[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424621812967 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424621812967[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445571204519 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445571204519[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546006723514 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546006723514[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474746567279 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474746567279[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891497016209 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891497016209[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133890605425 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133890605425[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274188943479 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274188943479[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613847755162 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613847755162[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551937296690 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551937296690[0m ×2 + 23.86sWARNcontroller_managerOverrun might occur, Total time : 3963.940 us (Expected < 1666.667 us) --> Read time : 272.776 us, Update time : 3013.029 us, Write time : 678.135 us + 23.86sWARNros2_control_nodeOverrun might occur, Total time : 3963.940 us (Expected < 1666.667 us) --> Read time : 272.776 us, Update time : 3013.029 us, Write time : 678.135 us[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496126274888 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496126274888[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164228567615 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003164228567615[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716114016852 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003716114016852[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043847473698 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043847473698[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228902604400 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228902604400[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322781666678 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004322781666678[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935789530048 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004935789530048[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726242698677 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726242698677[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568114429191 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568114429191[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453241768256 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453241768256[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630920888941 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630920888941[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479110005698 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479110005698[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026607555777 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026607555777[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628491087773 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628491087773[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801312694165 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801312694165[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556545343032 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556545343032[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412117818850 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412117818850[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320690154784 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320690154784[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642192878394 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642192878394[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037619244663 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037619244663[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947778760248 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947778760248[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619659413821 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004619659413821[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991134773186 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991134773186[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077825391774 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077825391774[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633167486042 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633167486042[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412410338191 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412410338191[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282140974836 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004282140974836[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856742321053 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004856742321053[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542830610986 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542830610986[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336147025930 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336147025930[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204122594108 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204122594108[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773328581348 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773328581348[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462967666509 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462967666509[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264170317552 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004264170317552[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569883041160 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004569883041160[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323884710544 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323884710544[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170243741391 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170243741391[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078061138386 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004078061138386[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637429092383 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637429092383[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359029296810 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004359029296810[0m ×2 + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389235 ms (missed cycles : 2). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389235 ms (missed cycles : 2).[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181882023149 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181882023149[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701155114510 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701155114510[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694250176791 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694250176791[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982972303865 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004982972303865[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577981202170 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577981202170[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240865798739 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004240865798739[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432570188296 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432570188296[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005905389914802 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005905389914802[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119569386730 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119569386730[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606320781584 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606320781584[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279841231658 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279841231658[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270735225039 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270735225039[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675514344128 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675514344128[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292720535228 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292720535228[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277707131479 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277707131479[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646690715547 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646690715547[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247070839002 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247070839002[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005341125467 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005341125467[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463055092245 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463055092245[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388217856061 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388217856061[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650627302443 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650627302443[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877629816208 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877629816208[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386034665905 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386034665905[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330524733760 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330524733760[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640748583586 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640748583586[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197543386441 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004197543386441[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475281056173 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475281056173[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497609473912 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497609473912[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641676731580 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641676731580[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152905553854 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004152905553854[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076206036668 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076206036668[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424478845771 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004424478845771[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022382607906 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022382607906[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311847442562 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311847442562[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556436624678 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556436624678[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005459311536824 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005459311536824[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534761717034 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534761717034[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693161891429 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693161891429[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170757177267 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170757177267[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064528205336 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064528205336[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386687420744 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386687420744[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963127189049 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963127189049[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187369398057 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187369398057[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429374602654 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429374602654[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253003479933 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253003479933[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459297810383 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459297810383[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419959029839 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419959029839[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505342311506 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505342311506[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387735749588 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005387735749588[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453668189576 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453668189576[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318614752517 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318614752517[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387617017981 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004387617017981[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836956444547 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836956444547[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133518167480 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133518167480[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111678791785 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111678791785[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255279648559 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255279648559[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174159556870 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174159556870[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289677678863 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289677678863[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103233973885 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103233973885[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846943199715 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004846943199715[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392946873307 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392946873307[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793046492065 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793046492065[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657680109902 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657680109902[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297396966810 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297396966810[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518832591932 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518832591932[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438285246206 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004438285246206[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123774164013 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123774164013[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527187344471 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527187344471[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430270763367 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430270763367[0m ×2 + 24.87sWARNcontroller_managerOverrun might occur, Total time : 3701.244 us (Expected < 1666.667 us) --> Read time : 247.395 us, Update time : 129.453 us, Write time : 3324.396 us + 24.88sWARNros2_control_nodeOverrun might occur, Total time : 3701.244 us (Expected < 1666.667 us) --> Read time : 247.395 us, Update time : 129.453 us, Write time : 3324.396 us[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005092420675944 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005092420675944[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447092722049 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003447092722049[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277746199519 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004277746199519[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094881289527 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094881289527[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006419986900848 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006419986900848[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071881581568 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071881581568[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427039613717 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005427039613717[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005498627403168 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005498627403168[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566418870647 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005566418870647[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626997555850 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626997555850[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147193081838 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147193081838[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607684247836 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607684247836[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914596192212 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914596192212[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650050953652 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650050953652[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054644537290 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005054644537290[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142408239409 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142408239409[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962626984273 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962626984273[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429453919806 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429453919806[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434914249359 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434914249359[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633446971932 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633446971932[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063340612968 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005063340612968[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231529996189 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231529996189[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462078403073 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462078403073[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428742265967 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428742265967[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511601668713 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003511601668713[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150616207250 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150616207250[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598447015751 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598447015751[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005774039095861 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005774039095861[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583170431712 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583170431712[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352934805749 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352934805749[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005192943333909 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005192943333909[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051812894981 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005051812894981[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950943449667 + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077023 ms (missed cycles : 2). + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950943449667[0m ×2 + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077023 ms (missed cycles : 2).[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870107259030 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870107259030[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809765691494 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809765691494[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760724467377 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760724467377[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354642629422 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354642629422[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109659137974 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109659137974[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895952291297 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895952291297[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766933132028 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766933132028[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343614311283 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343614311283[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048051585476 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005048051585476[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163380764677 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163380764677[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163817873088 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163817873088[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146116221022 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006146116221022[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897742714046 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897742714046[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513897260251 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513897260251[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005206942599273 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005206942599273[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729390873525 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729390873525[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547110104054 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547110104054[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516948393972 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005516948393972[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020432742439 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020432742439[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626460187374 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626460187374[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005128907216943 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005128907216943[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504875847733 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504875847733[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608968219189 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608968219189[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545592667318 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545592667318[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775038168614 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775038168614[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918551286137 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005918551286137[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144927208005 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144927208005[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639691671531 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639691671531[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566499662107 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566499662107[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630701468550 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630701468550[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007100405429811 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007100405429811[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197092063883 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197092063883[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621806241998 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005621806241998[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709469231874 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709469231874[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244256753750 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244256753750[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473172106649 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473172106649[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701485302038 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701485302038[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629122907257 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629122907257[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491829744693 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005491829744693[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761982931001 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761982931001[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646863033794 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646863033794[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624006061078 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624006061078[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445365932891 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445365932891[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659966693182 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004659966693182[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505577452340 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505577452340[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619144118320 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619144118320[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558603788121 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558603788121[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005451718982469 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005451718982469[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377514716390 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377514716390[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273845496423 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273845496423[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738387356007 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738387356007[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328292155723 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004328292155723[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757097457706 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004757097457706[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292701691942 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292701691942[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355702403209 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355702403209[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811394501980 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811394501980[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554057198844 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554057198844[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005799771029744 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005799771029744[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951416927059 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951416927059[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712586828902 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712586828902[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711785452708 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005711785452708[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049801289696 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049801289696[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718482692721 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718482692721[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530940784333 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005530940784333[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629361528514 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629361528514[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400948801688 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400948801688[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232866759954 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232866759954[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062506411995 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062506411995[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002593529637992 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002593529637992[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681163463913 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681163463913[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008789730664 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008789730664[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410336715691 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410336715691[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126875668612 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126875668612[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900083134117 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900083134117[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456829282071 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005456829282071[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055855902897 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055855902897[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767509313986 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767509313986[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553321005275 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004553321005275[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553345647287 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553345647287[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997586716753 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997586716753[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627818241382 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627818241382[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164393312712 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164393312712[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699512842035 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699512842035[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788826992614 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788826992614[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017836399374 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006017836399374[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233679900833 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005233679900833[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005763365863244 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005763365863244[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026960828950 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026960828950[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532624202198 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532624202198[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506134875091 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005506134875091[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825513615760 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825513615760[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896174257210 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896174257210[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005047274958824 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005047274958824[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005990882812865 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005990882812865[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005067723856902 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005067723856902[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953644188269 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953644188269[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006563527469 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006563527469[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868809872628 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868809872628[0m ×2 + 26.14sWARNcontroller_managerOverrun might occur, Total time : 1742.810 us (Expected < 1666.667 us) --> Read time : 295.807 us, Update time : 85.912 us, Write time : 1361.091 us + 26.14sWARNros2_control_nodeOverrun might occur, Total time : 1742.810 us (Expected < 1666.667 us) --> Read time : 295.807 us, Update time : 85.912 us, Write time : 1361.091 us[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006397748647909 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006397748647909[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221403553089 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005221403553089[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911033689713 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911033689713[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329423883847 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006329423883847[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006600266145277 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006600266145277[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276373061364 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276373061364[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005850543027231 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005850543027231[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006198398703252 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006198398703252[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384479793017 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384479793017[0m ×2 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010050 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010050 ms (missed cycles : 2).[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006459812573969 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006459812573969[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462930310734 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006462930310734[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422127090450 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422127090450[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006355880690100 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006355880690100[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006277364933738 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006277364933738[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194525075465 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006194525075465[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798081759918 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007798081759918[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007097519128500 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007097519128500[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006585795427573 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006585795427573[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006221732452729 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006221732452729[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007784104299717 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007784104299717[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006925777645676 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006925777645676[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328535056513 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006328535056513[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006325882331295 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006325882331295[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006403088403551 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006403088403551[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007892269546406 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007892269546406[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009289245168375 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009289245168375[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009995545132662 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009995545132662[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007993825945964 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007993825945964[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008850959169480 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008850959169480[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009611728336431 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009611728336431[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007542734339753 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007542734339753[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008337095418175 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008337095418175[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008754886871811 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008754886871811[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008912716194357 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008912716194357[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008900326320082 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008900326320082[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010203116809048 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010203116809048[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009565710720338 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009565710720338[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009027258080573 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009027258080573[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005915000983 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005915000983[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301956872225 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301956872225[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062347178945 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062347178945[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007095800836759 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007095800836759[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011086055017056 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011086055017056[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719255721554 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719255721554[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326958066659 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326958066659[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008101598849202 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008101598849202[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007994715905007 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007994715905007[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007747436115249 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007747436115249[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007439606998303 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007439606998303[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120366816796 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007120366816796[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010578512588689 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010578512588689[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008881998520690 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008881998520690[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007639513804517 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007639513804517[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759230963703 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759230963703[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154774042625 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154774042625[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750223675942 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750223675942[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484915307603 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484915307603[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005312211257355 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005312211257355[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008291004769252 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008291004769252[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006973079636691 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006973079636691[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053311504013 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053311504013[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008873833214857 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008873833214857[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007116190554142 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007116190554142[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920968631677 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920968631677[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001959383830601 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001959383830601[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040524044937 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040524044937[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603351442578 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603351442578[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286717728080 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286717728080[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005005981744474 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005005981744474[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766179827205 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766179827205[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007155104224495 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007155104224495[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992204686395 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992204686395[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156941738485 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156941738485[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577233620179 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577233620179[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798823450339 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798823450339[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517100944285 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517100944285[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795911795005 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002795911795005[0m ×2 + 27.14sWARNcontroller_managerOverrun might occur, Total time : 2547.408 us (Expected < 1666.667 us) --> Read time : 391.989 us, Update time : 616.364 us, Write time : 1539.055 us + 27.15sWARNros2_control_nodeOverrun might occur, Total time : 2547.408 us (Expected < 1666.667 us) --> Read time : 391.989 us, Update time : 616.364 us, Write time : 1539.055 us[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549963 ms (missed cycles : 5). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549963 ms (missed cycles : 5).[0m ×2 + 28.16sWARNcontroller_managerOverrun might occur, Total time : 2197.140 us (Expected < 1666.667 us) --> Read time : 202.955 us, Update time : 79.742 us, Write time : 1914.443 us + 28.17sWARNros2_control_nodeOverrun might occur, Total time : 2197.140 us (Expected < 1666.667 us) --> Read time : 202.955 us, Update time : 79.742 us, Write time : 1914.443 us[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465335 ms (missed cycles : 4). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465335 ms (missed cycles : 4).[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042122567342371 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042122567342371[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035320642799939 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035320642799939[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029234994275810 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029234994275810[0m ×2 + 28.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017900032181339 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017900032181339[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018648942759555 + 28.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018648942759555[0m ×2 + 28.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016996955371428 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016996955371428[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015512626487275 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015512626487275[0m ×2 + 28.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016188609870618 + 28.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016188609870618[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024333023932436 + 28.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024333023932436[0m ×2 + 28.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031105971400495 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031105971400495[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018567970577690 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018567970577690[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014778635070193 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014778635070193[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017250652088528 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017250652088528[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017739972451586 + 28.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017739972451586[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013560354386087 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013560354386087[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015325677560893 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015325677560893[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015861041502144 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015861041502144[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017467654769791 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017467654769791[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021761395086336 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021761395086336[0m ×2 + 28.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018351889367606 + 28.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018351889367606[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015591708912670 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015591708912670[0m ×2 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024162136053600 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024162136053600[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024204915226847 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024204915226847[0m ×2 + 29.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015270930861495 + 29.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015270930861495[0m ×2 + 29.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016607868471741 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016607868471741[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016612284182195 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016612284182195[0m ×2 + 29.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017361552069872 + 29.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017361552069872[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016252096963481 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016252096963481[0m ×2 + 29.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014876169214426 + 29.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014876169214426[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013455366069820 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013455366069820[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017826748122755 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017826748122755[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014042116772332 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014042116772332[0m ×2 + 29.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019356909413039 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019356909413039[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023910344270466 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023910344270466[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016300018427017 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016300018427017[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014378725559487 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014378725559487[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017924460990120 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017924460990120[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017916547072678 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017916547072678[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013526396238357 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013526396238357[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014333043984058 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014333043984058[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013471474854360 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013471474854360[0m ×2 + 29.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017033558612408 + 29.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017033558612408[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013508537731355 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013508537731355[0m ×2 + 29.20sWARNcontroller_managerOverrun might occur, Total time : 1727.310 us (Expected < 1666.667 us) --> Read time : 379.119 us, Update time : 680.506 us, Write time : 667.685 us + 29.20sWARNros2_control_nodeOverrun might occur, Total time : 1727.310 us (Expected < 1666.667 us) --> Read time : 379.119 us, Update time : 680.506 us, Write time : 667.685 us[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014571879489307 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014571879489307[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013131580925374 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013131580925374[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012886529242955 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012886529242955[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009951466891396 + 29.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009951466891396[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006570515485461 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006570515485461[0m ×2 + 29.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739795129963 + 29.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739795129963[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092206729094 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092206729094[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163102196166 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003163102196166[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462739486003 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001462739486003[0m ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835224 ms (missed cycles : 3). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835224 ms (missed cycles : 3).[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000617632561135 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000617632561135[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000375559877238 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000375559877238[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000507796940934 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000507796940934[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832219209135 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832219209135[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223246645196 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001223246645196[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669387844168 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669387844168[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863056437376 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001863056437376[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060136313787 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060136313787[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092857793755 + 29.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001092857793755[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494456205174 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494456205174[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247380290530 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247380290530[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046211570318 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046211570318[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057599030125 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004057599030125[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623568554414 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623568554414[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443712282383 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443712282383[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002044313672791 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002044313672791[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753004259692 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753004259692[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375151291273 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375151291273[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004199028165168 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004199028165168[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562593085141 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562593085141[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116123461161 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116123461161[0m ×2 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822063369341 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822063369341[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267946874232 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267946874232[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131178166810 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131178166810[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865492076128 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865492076128[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698378601342 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698378601342[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003146150119408 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003146150119408[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860388642660 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002860388642660[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682858551653 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682858551653[0m ×2 + 29.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002581759622602 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002581759622602[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030939993693 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030939993693[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790806404194 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002790806404194[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644686476816 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644686476816[0m ×2 + 29.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563943735838 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563943735838[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012888226182 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012888226182[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633260157231 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633260157231[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027360901325 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027360901325[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474706685249 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474706685249[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913549067488 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913549067488[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341748579184 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341748579184[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959248463662 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959248463662[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719966313122 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719966313122[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161059288032 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161059288032[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839344271368 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839344271368[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647004998062 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002647004998062[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002543823037167 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002543823037167[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498325417333 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498325417333[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487271468753 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487271468753[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002494524237037 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002494524237037[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826657935874 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003826657935874[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846769294110 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003846769294110[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285113676141 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003285113676141[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918066354011 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918066354011[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354551772324 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354551772324[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001002069635512 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001002069635512[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502006898342 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001502006898342[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360096143055 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002360096143055[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064075870005 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064075870005[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889103690325 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889103690325[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998072513129 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998072513129[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781458828636 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781458828636[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830918677474 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830918677474[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194479068498 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194479068498[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797751633545 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797751633545[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587132860462 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003587132860462[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035934283475 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035934283475[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705802148977 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705802148977[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135612020794 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135612020794[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778958888510 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778958888510[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579649176213 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579649176213[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483902949013 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002483902949013[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284937408239 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284937408239[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915050325411 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915050325411[0m ×2 + 30.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691807217385 + 30.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691807217385[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566568722991 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002566568722991[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939786400300 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003939786400300[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424892404004 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003424892404004[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205348988993 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205348988993[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472399587568 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472399587568[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896761662390 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896761662390[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657729684860 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657729684860[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806946094893 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806946094893[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227635460239 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227635460239[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088341204140 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088341204140[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153753334310 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153753334310[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393317089842 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393317089842[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914923640277 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002914923640277[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638076247740 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638076247740[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415267916366 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003415267916366[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950328961766 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950328961766[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676410972957 + 30.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002676410972957[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789457669087 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789457669087[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246477728835 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003246477728835[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118254037499 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118254037499[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088351215919 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088351215919[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309339329066 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309339329066[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540594318656 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003540594318656[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041607953333 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041607953333[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969158912367 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969158912367[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279376008024 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279376008024[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689880420736 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689880420736[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094832162201 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094832162201[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738703666958 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002738703666958[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504292411925 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504292411925[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992528820368 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992528820368[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690574988785 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002690574988785[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770868271968 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770868271968[0m ×2 + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356604 ms (missed cycles : 4). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356604 ms (missed cycles : 4).[0m ×2 + 30.33sWARNcontroller_managerOverrun might occur, Total time : 2267.602 us (Expected < 1666.667 us) --> Read time : 261.316 us, Update time : 1115.795 us, Write time : 890.491 us + 30.33sWARNros2_control_nodeOverrun might occur, Total time : 2267.602 us (Expected < 1666.667 us) --> Read time : 261.316 us, Update time : 1115.795 us, Write time : 890.491 us[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889677972109 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003889677972109[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644810179297 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644810179297[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055492692858 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055492692858[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073793864054 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073793864054[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427482155286 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427482155286[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202625355021 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202625355021[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418781307927 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418781307927[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563728374476 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563728374476[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018155097972 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018155097972[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766038403803 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766038403803[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582223941030 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582223941030[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988452765482 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988452765482[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010298526117 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010298526117[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004561479154929 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004561479154929[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474954145221 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474954145221[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206921465116 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206921465116[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431890346638 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431890346638[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127011444863 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127011444863[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343854853380 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003343854853380[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048103116736 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048103116736[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050989068010 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050989068010[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279954797255 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003279954797255[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983821930737 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983821930737[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715319180997 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003715319180997[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210244959708 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210244959708[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044311144207 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044311144207[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504827304274 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504827304274[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585945550749 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003585945550749[0m ×2 + 30.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976391876279 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976391876279[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238223550880 + 30.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003238223550880[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965589768077 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965589768077[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223071121618 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223071121618[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945527733324 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945527733324[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204976642064 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204976642064[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937325854212 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003937325854212[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561223219159 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561223219159[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695765456314 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695765456314[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326205962515 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326205962515[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650410997412 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650410997412[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855720301781 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855720301781[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790936693365 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790936693365[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249496898839 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249496898839[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371743921454 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003371743921454[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983729212658 + 30.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983729212658[0m ×2 + 30.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207452914296 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207452914296[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894608944958 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003894608944958[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098655359753 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098655359753[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284183622434 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284183622434[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940746744926 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940746744926[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189107264883 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003189107264883[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892137315056 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892137315056[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321151938911 + 30.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002321151938911[0m ×2 + 30.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957231831678 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957231831678[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957898059307 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957898059307[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642975432873 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004642975432873[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883100034695 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883100034695[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938578411093 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938578411093[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659673351616 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002659673351616[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625421548817 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625421548817[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185919849435 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004185919849435[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430915800000 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430915800000[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153686501081 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153686501081[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407086689439 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407086689439[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527896255982 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527896255982[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496213862672 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496213862672[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173217919253 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173217919253[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003271878059898 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003271878059898[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845149921288 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003845149921288[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178189739074 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178189739074[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003286360852214 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003286360852214[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858692778669 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858692778669[0m ×2 + 31.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189836472486 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189836472486[0m ×2 + 31.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383526402402 + 31.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383526402402[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416006822094 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003416006822094[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926812591666 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926812591666[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217525090721 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217525090721[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409888387920 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004409888387920[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209917177323 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003209917177323[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882366430125 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002882366430125[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695817751169 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695817751169[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902425880619 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902425880619[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868909921290 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868909921290[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787543574089 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004787543574089[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693162035036 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004693162035036[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701896439418 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701896439418[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569551078719 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569551078719[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942054771240 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942054771240[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159649666630 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159649666630[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506235342469 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506235342469[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450825646453 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450825646453[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858267057456 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002858267057456[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056824689034 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056824689034[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298522194734 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298522194734[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410855962774 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410855962774[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449737774039 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449737774039[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790742796604 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790742796604[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651942633308 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651942633308[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488195056318 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488195056318[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404471374902 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404471374902[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964811619849 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002964811619849[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688094286757 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003688094286757[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837919863552 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837919863552[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773986486603 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773986486603[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672190210807 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672190210807[0m ×2 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729273 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729273 ms (missed cycles : 2).[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565147571570 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565147571570[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469873406748 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469873406748[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081329936846 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005081329936846[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758349999058 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004758349999058[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536100113764 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004536100113764[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632499396143 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632499396143[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447405133466 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447405133466[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330074215066 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330074215066[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259431864721 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259431864721[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436475971753 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436475971753[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324587010539 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324587010539[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255702208251 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255702208251[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431783310190 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431783310190[0m ×2 + 31.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319347649921 + 31.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004319347649921[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932108286112 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004932108286112[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912373510527 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912373510527[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603662172946 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603662172946[0m ×2 + 31.49sWARNcontroller_managerOverrun might occur, Total time : 2289.652 us (Expected < 1666.667 us) --> Read time : 246.795 us, Update time : 470.531 us, Write time : 1572.326 us + 31.49sWARNros2_control_nodeOverrun might occur, Total time : 2289.652 us (Expected < 1666.667 us) --> Read time : 246.795 us, Update time : 470.531 us, Write time : 1572.326 us[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428046783244 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428046783244[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931550223928 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931550223928[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409431344617 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409431344617[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226564091808 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226564091808[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483466183048 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483466183048[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531333751859 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531333751859[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010862578831 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010862578831[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672388693151 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672388693151[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436885548037 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436885548037[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495554071705 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005495554071705[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908957684964 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908957684964[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517705974407 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517705974407[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268091857008 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004268091857008[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836063092299 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836063092299[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278300711281 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278300711281[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480373129708 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480373129708[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007001828103 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006007001828103[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201383061775 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005201383061775[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499152056398 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499152056398[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004860575183406 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004860575183406[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442120675035 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004442120675035[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177748658737 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177748658737[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019316225596 + 31.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019316225596[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032576935239 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005032576935239[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535812301868 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535812301868[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221314722151 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221314722151[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765026240174 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765026240174[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354952046377 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354952046377[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100975595480 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100975595480[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951061948208 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951061948208[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505957863794 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004505957863794[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005615572386001 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005615572386001[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699047139125 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005699047139125[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004957321688366 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004957321688366[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459160066266 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459160066266[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136616344867 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136616344867[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106956023379 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106956023379[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518239781437 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004518239781437[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145964864696 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145964864696[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450729022305 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450729022305[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004927851935923 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004927851935923[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343001068090 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343001068090[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591706558292 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591706558292[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753347800578 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004753347800578[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252679298693 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252679298693[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950386219782 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950386219782[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324972204190 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324972204190[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532429300232 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532429300232[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086577852075 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086577852075[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006900641602 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006900641602[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381089160235 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381089160235[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398063482239 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398063482239[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298267428889 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298267428889[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584041608942 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584041608942[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609703288702 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005609703288702[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655954472966 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655954472966[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100581113481 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100581113481[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987338286237 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987338286237[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307543838505 + 32.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307543838505[0m ×2 + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359875002040 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359875002040[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453251273660 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453251273660[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920960122589 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920960122589[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229677858314 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229677858314[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268924732287 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005268924732287[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375208395280 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375208395280[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835780771511 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835780771511[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160234244367 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160234244367[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689512168683 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689512168683[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627268596772 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627268596772[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489581249501 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489581249501[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120235028493 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120235028493[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964800057479 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964800057479[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630166313435 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630166313435[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588761712241 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004588761712241[0m ×2 + 32.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416440671710 + 32.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416440671710[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474076696208 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004474076696208[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273491300791 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005273491300791[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304952093106 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004304952093106[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126393262569 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126393262569[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213136202484 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213136202484[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018518333377 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018518333377[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195717396866 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195717396866[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056918493273 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056918493273[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414079319912 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414079319912[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480567077482 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480567077482[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350984197968 + 32.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350984197968[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902077982565 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902077982565[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191525723122 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191525723122[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736161677396 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003736161677396[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472259143055 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472259143055[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126150662101 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126150662101[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483412419533 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483412419533[0m ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313302 ms (missed cycles : 2). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313302 ms (missed cycles : 2).[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658257478877 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658257478877[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005714476861989 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005714476861989[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239783550474 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239783550474[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710115269236 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004710115269236[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135828001834 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135828001834[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303537783304 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005303537783304[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418170305533 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005418170305533[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005455271059897 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005455271059897[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565290648506 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565290648506[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354432201597 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354432201597[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844474682918 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844474682918[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001829510156 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005001829510156[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163052218441 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163052218441[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204486465658 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204486465658[0m ×2 + 32.50sWARNcontroller_managerOverrun might occur, Total time : 2260.111 us (Expected < 1666.667 us) --> Read time : 321.997 us, Update time : 109.112 us, Write time : 1829.002 us + 32.50sWARNros2_control_nodeOverrun might occur, Total time : 2260.111 us (Expected < 1666.667 us) --> Read time : 321.997 us, Update time : 109.112 us, Write time : 1829.002 us[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229630254591 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229630254591[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213806516512 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213806516512[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406551973761 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005406551973761[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315313970861 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315313970861[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222384379459 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222384379459[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324966773411 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324966773411[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220734838079 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220734838079[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129013332930 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005129013332930[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003174215526016 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003174215526016[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697079548037 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697079548037[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919383626467 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919383626467[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118832253649 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118832253649[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091967902212 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005091967902212[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082291326712 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082291326712[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217638125348 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217638125348[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752435487825 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752435487825[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348257318195 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005348257318195[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093865800873 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093865800873[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902155924225 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902155924225[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781222682937 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004781222682937[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695001729585 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695001729585[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637840225216 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004637840225216[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705252719405 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705252719405[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005300155578065 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005300155578065[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940604849821 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940604849821[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739822966934 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004739822966934[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586349426333 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586349426333[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356317240360 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005356317240360[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340736137324 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340736137324[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007426838820116 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007426838820116[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771051223392 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771051223392[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156729840648 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156729840648[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311036103572 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311036103572[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546383547004 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546383547004[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493254649669 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493254649669[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403300419066 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005403300419066[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900996648960 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900996648960[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512493948916 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512493948916[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005916645633522 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005916645633522[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005986818104043 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005986818104043[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006125242753 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006125242753[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701675028321 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701675028321[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907022004504 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907022004504[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928701994340 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928701994340[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049383657928 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005049383657928[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606954761424 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004606954761424[0m ×2 + 32.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792509827608 + 32.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792509827608[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497185122202 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497185122202[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246187720686 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004246187720686[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008142642443725 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008142642443725[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472079603591 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472079603591[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006600144650305 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006600144650305[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289535142387 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004289535142387[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902261219723 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902261219723[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384907670265 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006384907670265[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241449051509 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005241449051509[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005974481226387 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005974481226387[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327129189376 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327129189376[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037822100975 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037822100975[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769338340505 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769338340505[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515831220213 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515831220213[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517851342174 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005517851342174[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952774221690 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952774221690[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051913644319 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051913644319[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569086906854 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003569086906854[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932193814038 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003932193814038[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004763048619424 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004763048619424[0m ×2 + 33.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402464034818 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402464034818[0m ×2 + 33.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390472479073 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390472479073[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959478320470 + 33.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005959478320470[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006396376574209 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006396376574209[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046540761933 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006046540761933[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005889811083503 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005889811083503[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533346053859 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005533346053859[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005680428610133 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005680428610133[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753843459631 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005753843459631[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093327597274 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093327597274[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879976769266 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879976769266[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143676097903 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004143676097903[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010895573344911 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010895573344911[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641037056968 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641037056968[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688757103691 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688757103691[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899501629430 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899501629430[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362869027564 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362869027564[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400948717699 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005400948717699[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487997257759 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005487997257759[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563539128501 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563539128501[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296625578677 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296625578677[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001239160920997 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001239160920997[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802809746894 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802809746894[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235775 ms (missed cycles : 2). + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012625659826709 + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235775 ms (missed cycles : 2).[0m ×2 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012625659826709[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481388461648 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004481388461648[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646301413348 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646301413348[0m ×2 + 33.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671313439538 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671313439538[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421824109516 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421824109516[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880648103355 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880648103355[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144414366221 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003144414366221[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292301233264 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007292301233264[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527167163756 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527167163756[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063962430543 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063962430543[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007083482423310 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007083482423310[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007147331384824 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007147331384824[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572195516534 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572195516534[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009322306149877 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009322306149877[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789882337751 + 33.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789882337751[0m ×2 + 33.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806984467619 + 33.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806984467619[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374721917331 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374721917331[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955327898091 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955327898091[0m ×2 + 33.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009153362274466 + 33.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009153362274466[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009161392451960 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009161392451960[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005510998210772 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005510998210772[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277587983088 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277587983088[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652345464715 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002652345464715[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589930451708 + 33.59sWARNcontroller_managerOverrun might occur, Total time : 5110.407 us (Expected < 1666.667 us) --> Read time : 242.015 us, Update time : 265.236 us, Write time : 4603.156 us + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589930451708[0m ×2 + 33.60sWARNros2_control_nodeOverrun might occur, Total time : 5110.407 us (Expected < 1666.667 us) --> Read time : 242.015 us, Update time : 265.236 us, Write time : 4603.156 us[0m ×2 + 33.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006642379421508 + 33.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006642379421508[0m ×2 + 33.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294225101540 + 33.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002294225101540[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783241865977 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001783241865977[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008636784915507 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008636784915507[0m ×2 + 33.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005560195979597 + 33.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005560195979597[0m ×2 + 33.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584247797717 + 33.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584247797717[0m ×2 + 33.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439473261061 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439473261061[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008483316070646 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008483316070646[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154023622996 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154023622996[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019233424904 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019233424904[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937799552202 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937799552202[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976709345707 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004976709345707[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105836830277 + 33.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105836830277[0m ×2 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581847368648 + 33.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003581847368648[0m ×2 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007506737522260 + 33.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007506737522260[0m ×2 + 33.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719407274800 + 33.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004719407274800[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470960208410 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003470960208410[0m ×2 + 33.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010923278776344 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010923278776344[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006693261069934 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006693261069934[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951483106608 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951483106608[0m ×2 + 33.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312076600535 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312076600535[0m ×2 + 33.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006735173335261 + 33.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006735173335261[0m ×2 + 33.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742284526052 + 33.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006742284526052[0m ×2 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000467001990209 + 33.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000467001990209[0m ×2 + 33.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238755359179 + 33.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238755359179[0m ×2 + 33.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009836693552921 + 33.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009836693552921[0m ×2 + 33.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009932629250215 + 33.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009932629250215[0m ×2 + 33.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229278567028 + 33.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229278567028[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781355808068 + 33.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003781355808068[0m ×2 + 33.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272868064214 + 33.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272868064214[0m ×2 + 33.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221936307835 + 33.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221936307835[0m ×2 + 33.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772200928680 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772200928680[0m ×2 + 33.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012622460504294 + 33.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012622460504294[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893451 ms (missed cycles : 2). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893451 ms (missed cycles : 2).[0m ×2 + 34.77sWARNcontroller_managerOverrun might occur, Total time : 2087.738 us (Expected < 1666.667 us) --> Read time : 335.358 us, Update time : 115.403 us, Write time : 1636.977 us + 34.77sWARNros2_control_nodeOverrun might occur, Total time : 2087.738 us (Expected < 1666.667 us) --> Read time : 335.358 us, Update time : 115.403 us, Write time : 1636.977 us[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725011 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725011 ms (missed cycles : 2).[0m ×2 + 35.82sWARNcontroller_managerOverrun might occur, Total time : 5340.041 us (Expected < 1666.667 us) --> Read time : 322.127 us, Update time : 86.042 us, Write time : 4931.872 us + 35.82sWARNros2_control_nodeOverrun might occur, Total time : 5340.041 us (Expected < 1666.667 us) --> Read time : 322.127 us, Update time : 86.042 us, Write time : 4931.872 us[0m ×2 + 35.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014094619497296 + 35.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014094619497296[0m ×2 + 35.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.028499492104036 + 35.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.028499492104036[0m ×2 + 35.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.741469805486979 ×2 + 35.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.741469805486979[0m ×4 + 35.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.036886129553992 + 35.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.036886129553992[0m ×2 + 35.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.068514164655859 + 35.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.068514164655859[0m ×2 + 35.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.001833540709228 ×2 + 35.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.001833540709228[0m ×4 + 35.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.387854558075148 + 35.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.387854558075148[0m ×2 + 35.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.797158669051342 + 35.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.797158669051342[0m ×2 + 35.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.728086825973346 ×2 + 35.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.728086825973346[0m ×4 + 36.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008859403744097 + 36.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008859403744097[0m ×2 + 36.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023190274913443 + 36.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023190274913443[0m ×2 + 36.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057769275431981 + 36.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057769275431981[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.138267043477309 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.138267043477309[0m ×2 + 36.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.120607338206761 + 36.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.120607338206761[0m ×2 + 36.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.073507814279140 + 36.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.073507814279140[0m ×2 + 36.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041208610730348 + 36.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041208610730348[0m ×2 + 36.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018224248030030 + 36.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018224248030030[0m ×2 + 36.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039940190245227 + 36.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039940190245227[0m ×2 + 36.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041700803084178 + 36.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041700803084178[0m ×2 + 36.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036764342717654 + 36.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036764342717654[0m ×2 + 36.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327878203775 + 36.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006327878203775[0m ×2 + 36.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.518680587128429 + 36.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.518680587128429[0m ×2 + 36.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.950686834112357 + 36.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.950686834112357[0m ×2 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.950686834112355 + 36.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.950686834112355[0m ×2 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.052483075232949 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.052483075232949[0m ×2 + 36.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.972301593218361 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.972301593218361[0m ×2 + 36.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.367150561591561 + 36.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.367150561591561[0m ×2 + 36.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.832320774308819 + 36.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.832320774308819[0m ×2 + 36.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.755545656728142 + 36.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.755545656728142[0m ×2 + 36.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.755545656728131 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.755545656728131[0m ×2 + 36.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.197246105299900 + 36.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.197246105299900[0m ×2 + 36.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.650395552747888 + 36.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.650395552747888[0m ×2 + 36.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.089608947255211 + 36.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.089608947255211[0m ×2 + 36.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.515690993545956 + 36.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.515690993545956[0m ×2 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.953609906962118 + 36.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.953609906962118[0m ×2 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.382881327886267 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.382881327886267[0m ×2 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.815083213961859 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.815083213961859[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.231745808993466 ×2 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.231745808993466[0m ×4 + 36.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.662639741424570 + 36.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.662639741424570[0m ×2 + 36.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.311624887536610 + 36.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.311624887536610[0m ×2 + 36.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.311624887536603 + 36.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.311624887536603[0m ×2 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.903486017796101 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.903486017796101[0m ×2 + 36.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.312678688822148 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.312678688822148[0m ×2 + 36.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.406881784258516 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.406881784258516[0m ×2 + 36.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.260867935574659 ×2 + 36.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.260867935574659[0m ×4 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.057198458424976 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.057198458424976[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.706898752615712 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.706898752615712[0m ×2 + 36.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.297764524298179 + 36.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.297764524298179[0m ×2 + 36.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.297764524298182 + 36.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.297764524298182[0m ×2 + 36.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.173329580673581 + 36.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.173329580673581[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798067 ms (missed cycles : 2). + 36.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.071367878649196 ×2 + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798067 ms (missed cycles : 2).[0m ×2 + 36.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.071367878649196[0m ×4 + 36.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.324562769950522 + 36.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.324562769950522[0m ×2 + 36.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.087834008167199 + 36.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.087834008167199[0m ×2 + 36.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.810094362476005 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.810094362476005[0m ×2 + 36.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.384324929139757 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.384324929139757[0m ×2 + 36.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.863690450710148 ×2 + 36.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.863690450710148[0m ×4 + 36.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.184871318556299 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.184871318556299[0m ×2 + 36.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.303259209302299 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.303259209302299[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.153900618035456 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.153900618035456[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.891995241389301 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.891995241389301[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.759806652323844 ×2 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.759806652323844[0m ×4 + 36.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.016300416173275 + 36.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.016300416173275[0m ×2 + 36.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.468137058084110 + 36.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.468137058084110[0m ×2 + 36.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.907767324983077 ×2 + 36.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.907767324983077[0m ×4 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.820589617412491 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.820589617412491[0m ×2 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.476948171266866 ×2 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.476948171266866[0m ×4 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.011223115161872 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.011223115161872[0m ×2 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.690855884488400 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.690855884488400[0m ×2 + 36.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.357595627599434 + 36.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.357595627599434[0m ×2 + 36.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.005699133870699 + 36.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.005699133870699[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.997948098416373 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.997948098416373[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.195401257235151 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.195401257235151[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.483429003696767 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.483429003696767[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.049511190899963 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.049511190899963[0m ×2 + 36.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.382208435453091 ×2 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.382208435453091[0m ×4 + 36.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.229441652545330 + 36.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.229441652545330[0m ×2 + 36.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.972148039796301 + 36.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.972148039796301[0m ×2 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.697391918771267 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.697391918771267[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.512257487183029 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.512257487183029[0m ×2 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.369812363198148 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.369812363198148[0m ×2 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.206807805026234 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.206807805026234[0m ×2 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.154977464307772 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.154977464307772[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.072203347906801 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.072203347906801[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.468065477731752 + 36.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.468065477731752[0m ×2 + 36.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.622210014423903 + 36.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.622210014423903[0m ×2 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.206859416590044 ×2 + 36.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.206859416590044[0m ×4 + 36.90sWARNcontroller_managerOverrun might occur, Total time : 5405.672 us (Expected < 1666.667 us) --> Read time : 279.276 us, Update time : 986.762 us, Write time : 4139.634 us + 36.90sWARNros2_control_nodeOverrun might occur, Total time : 5405.672 us (Expected < 1666.667 us) --> Read time : 279.276 us, Update time : 986.762 us, Write time : 4139.634 us[0m ×2 + 36.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.546578475235242 + 36.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.546578475235242[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.106338437178895 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.106338437178895[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.673986681309593 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.673986681309593[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.599169938055987 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.599169938055987[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.319010348594098 ×2 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.319010348594098[0m ×4 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.292385905204213 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.292385905204213[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.476214616461068 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.476214616461068[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.768348925888962 ×2 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.768348925888962[0m ×4 + 36.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.149055134252791 + 36.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.149055134252791[0m ×2 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.192143512817079 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.192143512817079[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.877862137117056 ×2 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.877862137117056[0m ×4 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.608925777966803 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.608925777966803[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.397063141542134 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.397063141542134[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.156546926580738 ×2 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.156546926580738[0m ×4 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.882214689500579 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.882214689500579[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.524170702505991 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.524170702505991[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.915045002566639 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.915045002566639[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.431649812911429 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.431649812911429[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.936341880526371 ×2 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.936341880526371[0m ×4 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.392042440072679 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.392042440072679[0m ×2 + 37.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.447648625367613 + 37.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.447648625367613[0m ×2 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.765168550246437 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.765168550246437[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.765168550246431 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.765168550246431[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.520964837606087 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.520964837606087[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.750576197750981 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.750576197750981[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.405772283326012 ×2 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.405772283326012[0m ×4 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.139313626711573 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.139313626711573[0m ×2 + 37.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.631835782296826 + 37.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.631835782296826[0m ×2 + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.726221005323387 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.726221005323387[0m ×2 + 37.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.726221005323355 + 37.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.726221005323355[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.994935504544971 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.994935504544971[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.762538165545786 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.762538165545786[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.720199266259787 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.720199266259787[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.491046528498007 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.491046528498007[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.927847416538562 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.927847416538562[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.970576130145467 ×2 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.970576130145467[0m ×4 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.374973102564887 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.374973102564887[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.270515654276856 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.270515654276856[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.936936572617693 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.936936572617693[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.528700708454348 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.528700708454348[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.290877647782381 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.290877647782381[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.240416658083884 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.240416658083884[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.247901982521547 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.247901982521547[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.257106562403159 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.257106562403159[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.514528843953777 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.514528843953777[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.897342650682805 ×2 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.897342650682805[0m ×4 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.379945787111279 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.379945787111279[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.093693147387444 + 37.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.093693147387444[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383665 ms (missed cycles : 3). + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.958458602553048 + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383665 ms (missed cycles : 3).[0m ×2 + 37.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.958458602553048[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.646281607174711 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.646281607174711[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.525291497150111 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.525291497150111[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.166430553018664 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.166430553018664[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.652373102206105 ×2 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.652373102206105[0m ×4 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.679012529369245 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.679012529369245[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.918018108372795 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.918018108372795[0m ×2 + 37.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.214720118801264 ×2 + 37.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.214720118801264[0m ×4 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.408374404310284 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.408374404310284[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.984267824855368 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.984267824855368[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.040768292570708 ×2 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.040768292570708[0m ×4 + 37.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.815266891373000 + 37.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.815266891373000[0m ×2 + 37.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.479537901639453 + 37.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.479537901639453[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.148705652044251 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.148705652044251[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.844495342600091 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.844495342600091[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.612588460164245 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.612588460164245[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.418317796201008 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.418317796201008[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.730163479487315 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.730163479487315[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.346657508432019 ×2 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.346657508432019[0m ×4 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.495113203686602 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.495113203686602[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.854910363309440 ×2 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.854910363309440[0m ×4 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.374577416376290 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.374577416376290[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.713567354287207 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.713567354287207[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.510301179760607 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.510301179760607[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.355495189237800 ×2 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.355495189237800[0m ×4 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.094418863614361 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.094418863614361[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.899175991494452 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.899175991494452[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.671879712610604 ×2 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.671879712610604[0m ×4 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.317445028933946 + 37.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.317445028933946[0m ×2 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.798102395103200 + 37.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.798102395103200[0m ×2 + 37.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.893109518997839 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.893109518997839[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.996386243055721 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.996386243055721[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.114332290620982 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.114332290620982[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.748327123462563 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.748327123462563[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.539291829861668 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.539291829861668[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.435827491006066 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.435827491006066[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.418352477654985 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.418352477654985[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162450773238763 ×2 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.162450773238763[0m ×4 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.283487858598776 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.283487858598776[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.220482008237307 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.220482008237307[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.263421962314317 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.263421962314317[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.263421962314210 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.263421962314210[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.154000958691452 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.154000958691452[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.133117551194443 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.133117551194443[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.093286700792629 ×2 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.093286700792629[0m ×4 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.144849757805898 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.144849757805898[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.216124514897175 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.216124514897175[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025036911284495 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025036911284495[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076945281795497 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076945281795497[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.158739884026869 + 37.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.158739884026869[0m ×2 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.170845517530762 ×2 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.170845517530762[0m ×4 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.219239086450311 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.219239086450311[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.053625130230923 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.053625130230923[0m ×2 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031280621571831 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031280621571831[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003823725187041 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003823725187041[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014426568054543 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014426568054543[0m ×2 + 38.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018064728071208 ×2 + 38.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018064728071208[0m ×4 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.101733958134548 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.101733958134548[0m ×2 + 38.09sWARNcontroller_managerOverrun might occur, Total time : 4322.518 us (Expected < 1666.667 us) --> Read time : 187.994 us, Update time : 3509.550 us, Write time : 624.974 us + 38.10sWARNros2_control_nodeOverrun might occur, Total time : 4322.518 us (Expected < 1666.667 us) --> Read time : 187.994 us, Update time : 3509.550 us, Write time : 624.974 us[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045485099932420 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.045485099932420[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056983363514872 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.056983363514872[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.083540317614675 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.083540317614675[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007460086484163 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007460086484163[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027895732739223 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027895732739223[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081044425006400 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081044425006400[0m ×2 + 38.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.062594430755220 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.062594430755220[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.146389901724172 + 38.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.146389901724172[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.683975611569545 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.683975611569545[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.112918371442191 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.112918371442191[0m ×2 + 38.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.530649267919614 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.530649267919614[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.965817202821118 ×2 + 38.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.965817202821118[0m ×4 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.386279174525832 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.386279174525832[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.756019316458314 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.756019316458314[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.610764304174687 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.610764304174687[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.018084441736921 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.018084441736921[0m ×2 + 38.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.147010238448821 + 38.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.147010238448821[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.758670662884050 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.758670662884050[0m ×2 + 38.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.136177377468055 + 38.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.136177377468055[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.580808438504892 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.580808438504892[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.139685819376169 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.139685819376169[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.644579896326984 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.644579896326984[0m ×2 + 38.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.447217648108236 + 38.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.447217648108236[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.515227744128758 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.515227744128758[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.631651917417255 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.631651917417255[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.947559034685678 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.947559034685678[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.777602479887999 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.777602479887999[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.776258740818539 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.776258740818539[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742453 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742453 ms (missed cycles : 2).[0m ×2 + 38.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.684239874130102 + 38.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.684239874130102[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.447177831615821 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.447177831615821[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.284485532833486 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.284485532833486[0m ×2 + 38.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.022775804557320 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.022775804557320[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.646809353280036 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.646809353280036[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.266367732940106 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.266367732940106[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.085263205664468 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.085263205664468[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.629303902588511 + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.629303902588511[0m ×2 + 38.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.001087343179368 + 38.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.001087343179368[0m ×2 + 38.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.610900351215232 + 38.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.610900351215232[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.025430380325847 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.025430380325847[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.673603965338494 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.673603965338494[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.299695338226368 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.299695338226368[0m ×2 + 38.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.585303595131062 + 38.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.585303595131062[0m ×2 + 38.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.784987002922801 + 38.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.784987002922801[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.861957264667190 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.861957264667190[0m ×2 + 38.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.966083554066103 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.966083554066103[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.579449667451748 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.579449667451748[0m ×2 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.293409593616648 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.293409593616648[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.475594005223524 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.475594005223524[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.631841558111205 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.631841558111205[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.187450697018754 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.187450697018754[0m ×2 + 38.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.655208353091284 + 38.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.655208353091284[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.816280788098242 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.816280788098242[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.703015013871072 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.703015013871072[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.739960369542382 + 38.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.739960369542382[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.549461763956564 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.549461763956564[0m ×2 + 38.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.549461763957088 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.549461763957088[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.376264425385685 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.376264425385685[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.299067664571442 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.299067664571442[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.369356325262909 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.369356325262909[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.551966133472306 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.551966133472306[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.293974586652560 + 38.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.293974586652560[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.794977321813249 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.794977321813249[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.579449621972977 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.579449621972977[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.151843177529937 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.151843177529937[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.005732396645517 + 38.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.005732396645517[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.698395755995914 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.698395755995914[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.395667834382213 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.395667834382213[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.696173837806231 + 39.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.696173837806231[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.646437572806754 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.646437572806754[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.646437572806779 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.646437572806779[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.392151541067534 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.392151541067534[0m ×2 + 39.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.201482575404178 + 39.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.201482575404178[0m ×2 + 39.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.946371879579015 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.946371879579015[0m ×2 + 39.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.955964871897518 + 39.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.955964871897518[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.311378515200047 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.311378515200047[0m ×2 + 39.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.311378515200058 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.311378515200058[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.421707854350750 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.421707854350750[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.718458877310944 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.718458877310944[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.718458877310951 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.718458877310951[0m ×2 + 39.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.075089444358682 + 39.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.075089444358682[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.484863441646208 + 39.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.484863441646208[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.157667356129723 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.157667356129723[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.736788408434668 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.736788408434668[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.846231958199649 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.846231958199649[0m ×2 + 39.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.783443112036714 + 39.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.783443112036714[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.808022165483139 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.808022165483139[0m ×2 + 39.20sWARNcontroller_managerOverrun might occur, Total time : 4304.107 us (Expected < 1666.667 us) --> Read time : 3659.703 us, Update time : 100.402 us, Write time : 544.002 us + 39.20sWARNros2_control_nodeOverrun might occur, Total time : 4304.107 us (Expected < 1666.667 us) --> Read time : 3659.703 us, Update time : 100.402 us, Write time : 544.002 us[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.661601734877985 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.661601734877985[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.644409371536323 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.644409371536323[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.354085363902143 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.354085363902143[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.842903662543782 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.842903662543782[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.939877728695659 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.939877728695659[0m ×2 + 39.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.732458799879776 + 39.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.732458799879776[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.104565913726745 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.104565913726745[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.235202964414169 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.235202964414169[0m ×2 + 39.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.281195294291784 + 39.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.281195294291784[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.793452371115317 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.793452371115317[0m ×2 + 39.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.858663891417590 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.858663891417590[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.643018929042068 + 39.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.643018929042068[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.546360316333631 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.546360316333631[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.180778705340806 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.180778705340806[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.997598248799868 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.997598248799868[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.761195033861227 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.761195033861227[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.533355841719189 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.533355841719189[0m ×2 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.533593419740221 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.533593419740221[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.532061692526788 + 39.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.532061692526788[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.217923711431311 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.217923711431311[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.416732573905691 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.416732573905691[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.093164044669670 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.093164044669670[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.792071525677521 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.792071525677521[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.881547610557611 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.881547610557611[0m ×2 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.508784871423694 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.508784871423694[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.133668842927319 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.133668842927319[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693642 ms (missed cycles : 4). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693642 ms (missed cycles : 4).[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.644330169040408 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.644330169040408[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.332170962246583 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.332170962246583[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.817886098924967 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.817886098924967[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.547098401321295 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.547098401321295[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.012970306085971 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.012970306085971[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.602695992039033 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.602695992039033[0m ×2 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.019501996072333 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.019501996072333[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.542385735854957 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.542385735854957[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.503802816778183 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.503802816778183[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.026326393684382 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.026326393684382[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.374475838748983 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.374475838748983[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.770093449684421 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.770093449684421[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.252530430946042 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.252530430946042[0m ×2 + 39.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.334752345546629 + 39.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.334752345546629[0m ×2 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.725761786328590 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.725761786328590[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.675056367402133 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.675056367402133[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.395536440562513 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.395536440562513[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.298604400282344 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.298604400282344[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.248578710208084 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.248578710208084[0m ×2 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.846250007379306 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.846250007379306[0m ×2 + 39.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.194788947042008 + 39.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.194788947042008[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.499281578988899 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.499281578988899[0m ×2 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.624147997330482 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.624147997330482[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.082258176455206 ×2 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.082258176455206[0m ×4 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.622924201899210 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.622924201899210[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.588269948013913 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.588269948013913[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.635175427300712 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.635175427300712[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.307097890871326 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.307097890871326[0m ×2 + 39.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.500351569594802 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.500351569594802[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.250536805255653 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.250536805255653[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.277854779015423 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.277854779015423[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.852770543968258 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.852770543968258[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.532782829708494 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.532782829708494[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.026192250710542 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.026192250710542[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.688146505336951 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.688146505336951[0m ×2 + 39.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.838348952321429 + 39.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.838348952321429[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.337542955855460 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.337542955855460[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.783202396021332 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.783202396021332[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.217105604749722 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.217105604749722[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.661101769702000 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.661101769702000[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.097731798753980 + 40.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.097731798753980[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.969165185491292 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.969165185491292[0m ×2 + 40.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.839694343368905 + 40.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.839694343368905[0m ×2 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.264097165173055 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.264097165173055[0m ×2 + 40.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.697812198026963 + 40.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.697812198026963[0m ×2 + 40.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.127530316694386 + 40.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.127530316694386[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.691918327427167 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.691918327427167[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.265135649489206 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.265135649489206[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.683965228753415 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.683965228753415[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.843942706182503 + 40.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.843942706182503[0m ×2 + 40.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.628921801441461 + 40.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.628921801441461[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.420239378047679 ×2 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.420239378047679[0m ×4 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.948016449532054 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.948016449532054[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.236221097641579 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.236221097641579[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.323761591434657 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.323761591434657[0m ×2 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.703449894654881 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.703449894654881[0m ×2 + 40.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.203986021593709 + 40.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.203986021593709[0m ×2 + 40.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.203986021593705 + 40.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.203986021593705[0m ×2 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.675399094401474 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.675399094401474[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.862255495014384 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.862255495014384[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.102355902470267 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.102355902470267[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.724824577616145 + 40.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.724824577616145[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.301835877793820 + 40.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.301835877793820[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.863247664962500 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.863247664962500[0m ×2 + 40.27sWARNcontroller_managerOverrun might occur, Total time : 2759.962 us (Expected < 1666.667 us) --> Read time : 218.465 us, Update time : 1035.023 us, Write time : 1506.474 us + 40.27sWARNros2_control_nodeOverrun might occur, Total time : 2759.962 us (Expected < 1666.667 us) --> Read time : 218.465 us, Update time : 1035.023 us, Write time : 1506.474 us[0m ×2 + 40.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.317170549143167 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.317170549143167[0m ×2 + 40.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.362927063446616 + 40.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.362927063446616[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.005985154091402 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.005985154091402[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.240271962011345 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.240271962011345[0m ×2 + 40.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.591316487514437 + 40.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.591316487514437[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.084471821995592 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.084471821995592[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.435351397728532 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.435351397728532[0m ×2 + 40.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.897972155003977 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.897972155003977[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.465282429489385 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.465282429489385[0m ×2 + 40.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.887682443350158 + 40.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.887682443350158[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.425379753261126 ×2 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.425379753261126[0m ×4 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181674509600491 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.181674509600491[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.087050732542029 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.087050732542029[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.342823721082691 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.342823721082691[0m ×2 + 40.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.897576713944236 + 40.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.897576713944236[0m ×2 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.567102473513924 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.567102473513924[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.378577681416336 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.378577681416336[0m ×2 + 40.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.378577597461593 + 40.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.378577597461593[0m ×2 + 40.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.283524445170534 ×2 + 40.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.283524445170534[0m ×4 + 40.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.758190352244687 + 40.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.758190352244687[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.003965383373807 + 40.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.003965383373807[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888213862674833 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888213862674833[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014826 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014826 ms (missed cycles : 2).[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.424847428168043 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.424847428168043[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.338220651247944 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.338220651247944[0m ×2 + 40.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.852454783507157 + 40.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.852454783507157[0m ×2 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.383307311614536 + 40.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.383307311614536[0m ×2 + 40.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.051416280484709 + 40.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.051416280484709[0m ×2 + 40.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.037493049419091 + 40.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.037493049419091[0m ×2 + 40.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.037492905728019 + 40.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.037492905728019[0m ×2 + 40.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.096398772845653 + 40.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.096398772845653[0m ×2 + 40.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.780144571265385 + 40.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.780144571265385[0m ×2 + 40.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.395413998038062 + 40.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.395413998038062[0m ×2 + 40.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.880924968925477 + 40.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.880924968925477[0m ×2 + 40.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.483674861961326 + 40.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.483674861961326[0m ×2 + 40.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.584029368712017 + 40.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.584029368712017[0m ×2 + 40.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.136333861046715 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.136333861046715[0m ×2 + 40.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.952985059757879 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.952985059757879[0m ×2 + 40.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.649815748105588 + 40.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.649815748105588[0m ×2 + 40.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.579343017796440 + 40.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.579343017796440[0m ×2 + 40.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.403422347567890 + 40.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.403422347567890[0m ×2 + 40.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.324629052853872 + 40.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.324629052853872[0m ×2 + 40.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.935642926729340 + 40.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.935642926729340[0m ×2 + 40.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.315950993737609 + 40.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.315950993737609[0m ×2 + 40.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.496320503303096 + 40.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.496320503303096[0m ×2 + 40.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.601882100091743 + 40.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.601882100091743[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.972812299995964 + 40.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.972812299995964[0m ×2 + 40.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.423847594051924 + 40.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.423847594051924[0m ×2 + 40.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.815649298478830 + 40.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.815649298478830[0m ×2 + 40.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.302314045201522 + 40.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.302314045201522[0m ×2 + 40.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.706923838101332 + 40.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.706923838101332[0m ×2 + 40.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.165161224501068 + 40.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.165161224501068[0m ×2 + 40.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.452953833935013 + 40.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.452953833935013[0m ×2 + 40.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.858272186954158 + 40.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.858272186954158[0m ×2 + 40.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.426230208762401 + 40.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.426230208762401[0m ×2 + 40.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.715969072087937 + 40.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.715969072087937[0m ×2 + 40.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.154564056583393 + 40.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.154564056583393[0m ×2 + 40.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.599625071126148 + 40.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.599625071126148[0m ×2 + 40.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.997659917543061 + 40.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.997659917543061[0m ×2 + 40.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.875083380001655 + 40.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.875083380001655[0m ×2 + 41.28sWARNcontroller_managerOverrun might occur, Total time : 2959.197 us (Expected < 1666.667 us) --> Read time : 727.017 us, Update time : 77.861 us, Write time : 2154.319 us + 41.28sWARNros2_control_nodeOverrun might occur, Total time : 2959.197 us (Expected < 1666.667 us) --> Read time : 727.017 us, Update time : 77.861 us, Write time : 2154.319 us[0m ×2 + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764878 ms (missed cycles : 2). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764878 ms (missed cycles : 2).[0m ×2 + 42.31sWARNcontroller_managerOverrun might occur, Total time : 5857.393 us (Expected < 1666.667 us) --> Read time : 306.247 us, Update time : 4973.043 us, Write time : 578.103 us + 42.32sWARNros2_control_nodeOverrun might occur, Total time : 5857.393 us (Expected < 1666.667 us) --> Read time : 306.247 us, Update time : 4973.043 us, Write time : 578.103 us[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795711 ms (missed cycles : 2). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795711 ms (missed cycles : 2).[0m ×2 + 42.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551174669461 + 42.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551174669461[0m ×2 + 42.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000717999061505 + 42.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000717999061505[0m ×2 + 42.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940229596691 + 42.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940229596691[0m ×2 + 42.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046708071824 + 42.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001046708071824[0m ×2 + 42.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080377117157 + 42.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001080377117157[0m ×2 + 42.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380458811999 + 42.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001380458811999[0m ×2 + 42.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718120866587 + 42.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001718120866587[0m ×2 + 43.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409643993103 + 43.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409643993103[0m ×2 + 43.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711470133854 + 43.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001711470133854[0m ×2 + 43.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362075909605 + 43.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362075909605[0m ×2 + 43.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001121123376333 + 43.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001121123376333[0m ×2 + 43.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000964833719828 + 43.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000964833719828[0m ×2 + 43.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129764687635 + 43.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129764687635[0m ×2 + 43.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967656960073 + 43.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967656960073[0m ×2 + 43.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000870639680585 + 43.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000870639680585[0m ×2 + 43.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001036709657055 + 43.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001036709657055[0m ×2 + 43.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916892152896 + 43.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916892152896[0m ×2 + 43.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000849142733460 + 43.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000849142733460[0m ×2 + 43.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001016329723712 + 43.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001016329723712[0m ×2 + 43.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915491939965 + 43.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000915491939965[0m ×2 + 43.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859289041804 + 43.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859289041804[0m ×2 + 43.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000975888060558 + 43.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000975888060558[0m ×2 + 43.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070858867059 + 43.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070858867059[0m ×2 + 43.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001162981229826 + 43.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001162981229826[0m ×2 + 43.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001075564747635 + 43.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001075564747635[0m ×2 + 43.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911779534918 + 43.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911779534918[0m ×2 + 43.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141206421511 + 43.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001141206421511[0m ×2 + 43.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168602014957 + 43.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001168602014957[0m ×2 + 43.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238748471380 ×2 + 43.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001238748471380[0m ×4 + 43.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668227882112 + 43.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668227882112[0m ×2 + 43.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404510988592 + 43.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404510988592[0m ×2 + 43.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219525856627 + 43.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001219525856627[0m ×2 + 43.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394779728382 + 43.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394779728382[0m ×2 + 43.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201181163304 + 43.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201181163304[0m ×2 + 43.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076952230648 + 43.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001076952230648[0m ×2 + 43.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003386852033 + 43.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003386852033[0m ×2 + 43.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180238895002 + 43.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180238895002[0m ×2 + 43.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070621031774 + 43.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001070621031774[0m ×2 + 43.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006886295578 + 43.31sWARNcontroller_managerOverrun might occur, Total time : 1940.494 us (Expected < 1666.667 us) --> Read time : 289.047 us, Update time : 666.815 us, Write time : 984.632 us + 43.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006886295578[0m ×2 + 43.31sWARNros2_control_nodeOverrun might occur, Total time : 1940.494 us (Expected < 1666.667 us) --> Read time : 289.047 us, Update time : 666.815 us, Write time : 984.632 us[0m ×2 + 43.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116955870131 + 43.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001116955870131[0m ×2 + 43.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001206911069441 + 43.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001206911069441[0m ×2 + 43.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001152809761295 + 43.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001152809761295[0m ×2 + 43.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112954354359 + 43.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001112954354359[0m ×2 + 43.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446801366251 + 43.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001446801366251[0m ×2 + 43.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001285606486433 + 43.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001285606486433[0m ×2 + 43.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001176641855662 + 43.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001176641855662[0m ×2 + 43.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107927531109 + 43.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107927531109[0m ×2 + 43.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001068388957416 + 43.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001068388957416[0m ×2 + 43.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406151942792 + 43.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001406151942792[0m ×2 + 43.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251687299486 + 43.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251687299486[0m ×2 + 43.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153237406555 + 43.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153237406555[0m ×2 + 43.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095455512152 + 43.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001095455512152[0m ×2 + 43.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435883666052 + 43.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435883666052[0m ×2 + 43.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001270530204330 + 43.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001270530204330[0m ×2 + 43.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166540694544 + 43.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001166540694544[0m ×2 + 43.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233197056572 + 43.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233197056572[0m ×2 + 43.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182959121241 + 43.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001182959121241[0m ×2 + 43.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691415609579 ×2 + 43.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001691415609579[0m ×4 + 43.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458373650857 + 43.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458373650857[0m ×2 + 43.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302664729172 + 43.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302664729172[0m ×2 + 43.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204953484870 ×2 + 43.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001204953484870[0m ×4 + 43.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001149130105951 + 43.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001149130105951[0m ×2 + 43.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001121781595617 + 43.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001121781595617[0m ×2 + 43.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273230547377 + 43.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273230547377[0m ×2 + 43.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792736168631 ×2 + 43.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001792736168631[0m ×4 + 43.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550999096901 + 43.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001550999096901[0m ×2 + 43.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439447327433 + 43.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439447327433[0m ×2 + 43.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631847202183 + 43.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631847202183[0m ×2 + 43.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001450926850042 + 43.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001450926850042[0m ×2 + 43.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330372411450 + 43.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330372411450[0m ×2 + 43.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255417609323 + 43.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255417609323[0m ×2 + 43.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001774708485920 ×2 + 43.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001774708485920[0m ×4 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338099 ms (missed cycles : 2). + 43.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533172814038 + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338099 ms (missed cycles : 2).[0m ×2 + 43.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001533172814038[0m ×2 + 43.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439674685284 + 43.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439674685284[0m ×2 + 43.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001635383779717 + 43.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001635383779717[0m ×2 + 43.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001512409271568 + 43.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001512409271568[0m ×2 + 43.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401493922608 + 43.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401493922608[0m ×2 + 43.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899647068702 + 43.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899647068702[0m ×2 + 43.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631638394711 + 43.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001631638394711[0m ×2 + 43.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829647664498 + 43.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001829647664498[0m ×2 + 43.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574037550048 + 43.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001574037550048[0m ×2 + 43.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409866838603 + 43.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001409866838603[0m ×2 + 43.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311934384672 + 43.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311934384672[0m ×2 + 43.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680386623355 + 43.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680386623355[0m ×2 + 43.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483554314810 + 43.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483554314810[0m ×2 + 43.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362167049360 + 43.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362167049360[0m ×2 + 43.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293325164670 + 43.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293325164670[0m ×2 + 43.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412220698332 + 43.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001412220698332[0m ×2 + 43.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956524323332 + 43.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956524323332[0m ×2 + 43.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702567884279 + 43.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702567884279[0m ×2 + 43.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001905128450262 + 43.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001905128450262[0m ×2 + 43.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654381445192 + 43.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654381445192[0m ×2 + 43.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490198869479 + 43.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490198869479[0m ×2 + 43.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978959060602 + 43.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001978959060602[0m ×2 + 43.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693483689508 + 43.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001693483689508[0m ×2 + 43.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897890946049 + 43.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897890946049[0m ×2 + 43.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634037068734 + 43.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634037068734[0m ×2 + 43.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468675977869 + 43.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001468675977869[0m ×2 + 43.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001372482228980 + 43.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001372482228980[0m ×2 + 43.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919548404719 + 43.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919548404719[0m ×2 + 43.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669321249489 + 43.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001669321249489[0m ×2 + 43.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001509324513769 + 43.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001509324513769[0m ×2 + 43.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892034993618 + 43.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892034993618[0m ×2 + 43.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648542449249 + 43.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648542449249[0m ×2 + 43.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495660717396 + 43.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495660717396[0m ×2 + 43.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001528161544506 + 43.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001528161544506[0m ×2 + 43.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001327333167081 + 43.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001327333167081[0m ×2 + 43.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006452343558 + 43.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006452343558[0m ×2 + 44.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216636854971 + 44.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002216636854971[0m ×2 + 44.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548532939286 + 44.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548532939286[0m ×2 + 44.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114094869183 + 44.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114094869183[0m ×2 + 44.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788896719203 + 44.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788896719203[0m ×2 + 44.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690101485621 + 44.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690101485621[0m ×2 + 44.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200483075194 + 44.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200483075194[0m ×2 + 44.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413408315797 + 44.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002413408315797[0m ×2 + 44.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026074963043 + 44.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002026074963043[0m ×2 + 44.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764876028679 + 44.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764876028679[0m ×2 + 44.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217414084325 + 44.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002217414084325[0m ×2 + 44.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880537512350 ×2 + 44.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880537512350[0m ×4 + 44.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663013414491 + 44.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663013414491[0m ×2 + 44.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155195308499 + 44.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155195308499[0m ×2 + 44.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844589785396 + 44.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001844589785396[0m ×2 + 44.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647072005753 + 44.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647072005753[0m ×2 + 44.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156563196493 + 44.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002156563196493[0m ×2 + 44.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853955851747 + 44.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001853955851747[0m ×2 + 44.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290285325953 ×2 + 44.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002290285325953[0m ×4 + 44.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934904241064 + 44.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934904241064[0m ×2 + 44.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001707534920682 + 44.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001707534920682[0m ×2 + 44.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002110957048464 + 44.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002110957048464[0m ×2 + 44.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820514524726 + 44.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820514524726[0m ×2 + 44.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392657991339 + 44.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392657991339[0m ×2 + 44.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093751101288 + 44.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093751101288[0m ×2 + 44.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500352800972 + 44.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002500352800972[0m ×2 + 44.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781616945576 + 44.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781616945576[0m ×2 + 44.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289356188127 + 44.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289356188127[0m ×2 + 44.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955786251591 + 44.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001955786251591[0m ×2 + 44.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364583596784 + 44.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364583596784[0m ×2 + 44.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993886907176 + 44.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993886907176[0m ×2 + 44.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398970110759 + 44.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398970110759[0m ×2 + 44.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012232049427 + 44.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012232049427[0m ×2 + 44.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234658899584 + 44.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002234658899584[0m ×2 + 44.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903961133071 + 44.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903961133071[0m ×2 + 44.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002344999372547 + 44.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002344999372547[0m ×2 + 44.33sWARNcontroller_managerOverrun might occur, Total time : 2306.402 us (Expected < 1666.667 us) --> Read time : 257.846 us, Update time : 1592.036 us, Write time : 456.520 us + 44.34sWARNros2_control_nodeOverrun might occur, Total time : 2306.402 us (Expected < 1666.667 us) --> Read time : 257.846 us, Update time : 1592.036 us, Write time : 456.520 us[0m ×2 + 44.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982212738492 + 44.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982212738492[0m ×2 + 44.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401636195705 + 44.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401636195705[0m ×2 + 44.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021100083847 + 44.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021100083847[0m ×2 + 44.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430554808454 + 44.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430554808454[0m ×2 + 44.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041266681573 + 44.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041266681573[0m ×2 + 44.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266404545316 + 44.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266404545316[0m ×2 + 44.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934574759692 + 44.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001934574759692[0m ×2 + 44.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790032271898 + 44.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790032271898[0m ×2 + 44.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802103767035 + 44.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802103767035[0m ×2 + 44.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851286071416 + 44.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851286071416[0m ×2 + 44.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271334486282 + 44.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271334486282[0m ×2 + 44.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692783220765 + 44.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692783220765[0m ×2 + 44.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935947143782 + 44.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935947143782[0m ×2 + 44.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401550179708 + 44.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401550179708[0m ×2 + 44.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823457150842 + 44.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823457150842[0m ×2 + 44.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305950339488 + 44.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305950339488[0m ×2 + 44.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631228575635 + 44.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631228575635[0m ×2 + 44.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172833472844 + 44.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172833472844[0m ×2 + 44.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596700772448 + 44.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596700772448[0m ×2 + 44.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145194958986 + 44.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145194958986[0m ×2 + 44.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527365946098 ×2 + 44.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527365946098[0m ×4 + 44.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109462350103 + 44.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109462350103[0m ×2 + 44.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515930464090 + 44.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515930464090[0m ×2 + 44.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640828141102 + 44.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640828141102[0m ×2 + 44.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188941982632 + 44.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188941982632[0m ×2 + 44.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572286549751 + 44.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572286549751[0m ×2 + 44.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002149228525472 ×2 + 44.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002149228525472[0m ×4 + 44.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352243790240 + 44.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352243790240[0m ×2 + 44.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193700773417 + 44.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193700773417[0m ×2 + 44.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624266274584 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676608 ms (missed cycles : 2). + 44.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624266274584[0m ×2 + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676608 ms (missed cycles : 2).[0m ×2 + 44.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811626758754 + 44.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811626758754[0m ×2 + 44.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643693357793 ×2 + 44.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643693357793[0m ×4 + 44.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394556634676 + 44.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394556634676[0m ×2 + 44.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850133460168 + 44.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850133460168[0m ×2 + 44.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105284399557 + 44.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105284399557[0m ×2 + 44.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230976071853 ×2 + 44.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230976071853[0m ×4 + 44.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278008850655 + 44.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278008850655[0m ×2 + 44.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599103752614 + 44.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599103752614[0m ×2 + 44.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034679068078 + 44.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034679068078[0m ×2 + 44.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426638282169 + 44.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426638282169[0m ×2 + 44.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723086573103 + 44.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723086573103[0m ×2 + 44.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959399049990 + 44.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959399049990[0m ×2 + 44.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420826436364 + 44.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420826436364[0m ×2 + 44.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235855007998 + 44.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235855007998[0m ×2 + 44.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750556844511 + 44.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750556844511[0m ×2 + 44.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055276714672 + 44.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055276714672[0m ×2 + 44.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219727071689 + 44.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219727071689[0m ×2 + 44.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295293270999 ×2 + 44.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295293270999[0m ×4 + 44.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318228946497 + 44.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318228946497[0m ×2 + 44.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621430267395 + 44.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621430267395[0m ×2 + 44.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863904766142 + 44.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863904766142[0m ×2 + 44.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103151369335 + 44.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103151369335[0m ×2 + 44.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002479084522949 + 44.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002479084522949[0m ×2 + 44.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777451572574 ×2 + 44.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777451572574[0m ×4 + 44.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976314614433 + 44.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976314614433[0m ×2 + 44.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407717918641 + 44.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407717918641[0m ×2 + 44.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023770760787 + 44.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023770760787[0m ×2 + 44.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561215247311 + 44.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561215247311[0m ×2 + 44.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907724147058 + 44.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907724147058[0m ×2 + 44.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353455493177 + 44.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353455493177[0m ×2 + 44.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396909570627 + 44.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396909570627[0m ×2 + 44.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700397924589 ×2 + 44.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700397924589[0m ×4 + 44.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946154644327 + 44.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946154644327[0m ×2 + 45.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103572492806 ×2 + 45.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103572492806[0m ×4 + 45.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298531541474 + 45.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298531541474[0m ×2 + 45.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724338753894 + 45.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724338753894[0m ×2 + 45.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999717145038 + 45.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999717145038[0m ×2 + 45.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003168230848182 + 45.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003168230848182[0m ×2 + 45.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264065310461 + 45.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264065310461[0m ×2 + 45.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312818177109 + 45.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312818177109[0m ×2 + 45.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332838517943 + 45.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332838517943[0m ×2 + 45.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630079580101 + 45.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630079580101[0m ×2 + 45.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891286416063 + 45.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891286416063[0m ×2 + 45.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342817349788 + 45.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342817349788[0m ×2 + 45.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807194409497 + 45.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807194409497[0m ×2 + 45.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813106370369 + 45.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813106370369[0m ×2 + 45.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649465043038 + 45.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649465043038[0m ×2 + 45.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995374403326 + 45.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995374403326[0m ×2 + 45.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352655393956 ×2 + 45.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352655393956[0m ×4 + 45.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810981103510 + 45.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810981103510[0m ×2 + 45.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097243714373 + 45.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097243714373[0m ×2 + 45.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936334785276 + 45.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936334785276[0m ×2 + 45.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788577734392 + 45.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788577734392[0m ×2 + 45.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658488331858 + 45.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658488331858[0m ×2 + 45.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552654649307 + 45.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552654649307[0m ×2 + 45.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471789149608 ×2 + 45.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471789149608[0m ×4 + 45.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413458863834 + 45.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413458863834[0m ×2 + 45.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373858153666 + 45.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373858153666[0m ×2 + 45.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348886994823 + 45.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348886994823[0m ×2 + 45.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353515388372 + 45.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353515388372[0m ×2 + 45.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757593925337 + 45.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757593925337[0m ×2 + 45.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028021552044 + 45.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028021552044[0m ×2 + 45.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200281397892 + 45.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200281397892[0m ×2 + 45.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303447524086 ×2 + 45.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303447524086[0m ×4 + 45.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360112140660 + 45.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360112140660[0m ×2 + 45.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387041684848 + 45.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387041684848[0m ×2 + 45.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396147305492 + 45.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396147305492[0m ×2 + 45.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395516914891 + 45.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395516914891[0m ×2 + 45.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390368706967 + 45.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390368706967[0m ×2 + 45.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383860750029 + 45.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383860750029[0m ×2 + 45.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377737656479 ×2 + 45.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377737656479[0m ×4 + 45.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372821844270 + 45.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372821844270[0m ×2 + 45.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369370138031 + 45.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369370138031[0m ×2 + 45.41sWARNcontroller_managerOverrun might occur, Total time : 4407.010 us (Expected < 1666.667 us) --> Read time : 378.389 us, Update time : 3380.596 us, Write time : 648.025 us + 45.42sWARNros2_control_nodeOverrun might occur, Total time : 4407.010 us (Expected < 1666.667 us) --> Read time : 378.389 us, Update time : 3380.596 us, Write time : 648.025 us[0m ×2 + 45.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829537270017 + 45.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829537270017[0m ×2 + 45.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897397427155 + 45.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897397427155[0m ×2 + 45.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638760206479 + 45.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638760206479[0m ×2 + 45.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491517664224 + 45.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491517664224[0m ×2 + 45.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001234913572 + 45.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001234913572[0m ×2 + 45.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297929905735 + 45.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297929905735[0m ×2 + 45.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789267287541 + 45.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789267287541[0m ×2 + 45.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211801615152 + 45.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211801615152[0m ×2 + 45.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722882779700 ×2 + 45.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722882779700[0m ×4 + 45.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390600232395 + 45.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390600232395[0m ×2 + 45.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089432523824 + 45.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089432523824[0m ×2 + 45.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853571988110 + 45.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853571988110[0m ×2 + 45.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677845726232 ×2 + 45.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677845726232[0m ×4 + 45.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552977624462 + 45.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552977624462[0m ×2 + 45.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468538486260 + 45.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468538486260[0m ×2 + 45.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414625144267 + 45.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414625144267[0m ×2 + 45.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382688412058 + 45.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382688412058[0m ×2 + 45.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365822519847 + 45.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365822519847[0m ×2 + 45.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358739176150 + 45.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358739176150[0m ×2 + 45.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357578115437 ×2 + 45.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357578115437[0m ×4 + 45.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359651995899 + 45.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359651995899[0m ×2 + 45.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363184373591 + 45.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363184373591[0m ×2 + 45.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219299131702 + 45.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219299131702[0m ×2 + 45.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902219009822 + 45.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902219009822[0m ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779981 ms (missed cycles : 2). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779981 ms (missed cycles : 2).[0m ×2 + 45.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682845059539 + 45.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682845059539[0m ×2 + 45.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169915596234 + 45.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169915596234[0m ×2 + 45.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667591055970 + 45.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667591055970[0m ×2 + 45.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004248715881563 + 45.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004248715881563[0m ×2 + 45.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712285089225 + 45.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712285089225[0m ×2 + 45.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227237175065 + 45.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227237175065[0m ×2 + 45.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884834399699 + 45.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884834399699[0m ×2 + 45.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348398375379 + 45.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348398375379[0m ×2 + 45.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943256705491 + 45.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943256705491[0m ×2 + 45.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673841703831 + 45.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673841703831[0m ×2 + 45.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503935070913 + 45.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503935070913[0m ×2 + 45.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360475561363 + 45.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360475561363[0m ×2 + 45.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015786037715 + 45.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015786037715[0m ×2 + 45.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753233402432 + 45.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753233402432[0m ×2 + 45.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578114506388 + 45.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578114506388[0m ×2 + 45.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434465436723 + 45.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434465436723[0m ×2 + 45.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001971490638 + 45.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001971490638[0m ×2 + 45.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712252957077 + 45.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712252957077[0m ×2 + 45.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527604377286 + 45.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527604377286[0m ×2 + 45.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709727630841 + 45.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709727630841[0m ×2 + 45.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931633187356 + 45.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931633187356[0m ×2 + 45.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287394684024 ×2 + 45.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287394684024[0m ×4 + 45.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925171236742 + 45.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925171236742[0m ×2 + 45.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017829860937 + 45.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017829860937[0m ×2 + 45.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353538375608 ×2 + 45.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353538375608[0m ×4 + 45.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904173523401 + 45.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904173523401[0m ×2 + 45.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035466124327 + 45.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035466124327[0m ×2 + 45.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791904804873 + 45.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791904804873[0m ×2 + 45.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254105531057 + 45.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254105531057[0m ×2 + 45.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229975769029 + 45.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229975769029[0m ×2 + 45.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483118574447 + 45.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483118574447[0m ×2 + 45.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976298133689 + 45.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976298133689[0m ×2 + 46.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829221779062 + 46.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829221779062[0m ×2 + 46.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604841390359 + 46.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604841390359[0m ×2 + 46.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110514942937 + 46.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110514942937[0m ×2 + 46.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095006492313 + 46.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095006492313[0m ×2 + 46.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168054607385 + 46.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168054607385[0m ×2 + 46.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414133769016 + 46.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414133769016[0m ×2 + 46.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181836517024 + 46.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181836517024[0m ×2 + 46.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595327966042 + 46.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595327966042[0m ×2 + 46.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475036301158 + 46.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475036301158[0m ×2 + 46.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651511729884 + 46.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651511729884[0m ×2 + 46.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058186071416 + 46.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058186071416[0m ×2 + 46.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171922921699 + 46.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171922921699[0m ×2 + 46.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607843968216 ×2 + 46.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607843968216[0m ×4 + 46.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492168745229 + 46.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492168745229[0m ×2 + 46.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994733458378 + 46.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994733458378[0m ×2 + 46.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920233261042 + 46.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920233261042[0m ×2 + 46.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765545722701 + 46.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765545722701[0m ×2 + 46.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715722581904 + 46.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715722581904[0m ×2 + 46.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342948817531 ×2 + 46.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342948817531[0m ×4 + 46.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407648425598 + 46.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407648425598[0m ×2 + 46.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126137616542 ×2 + 46.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126137616542[0m ×4 + 46.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063900771799 + 46.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063900771799[0m ×2 + 46.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040293160894 + 46.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040293160894[0m ×2 + 46.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470136566905 + 46.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470136566905[0m ×2 + 46.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359558661623 ×2 + 46.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359558661623[0m ×4 + 46.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871564217602 + 46.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871564217602[0m ×2 + 46.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131953536113 + 46.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131953536113[0m ×2 + 46.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922695257904 + 46.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922695257904[0m ×2 + 46.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758863724841 + 46.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758863724841[0m ×2 + 46.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636966828616 + 46.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636966828616[0m ×2 + 46.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215578728640 + 46.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215578728640[0m ×2 + 46.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581042542495 ×2 + 46.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581042542495[0m ×4 + 46.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490953716136 + 46.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490953716136[0m ×2 + 46.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097543632641 ×2 + 46.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097543632641[0m ×4 + 46.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960166308936 + 46.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960166308936[0m ×2 + 46.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837460878645 + 46.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837460878645[0m ×2 + 46.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393936556763 + 46.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393936556763[0m ×2 + 46.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722506349063 ×2 + 46.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722506349063[0m ×4 + 46.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896239522384 + 46.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896239522384[0m ×2 + 46.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676647690498 + 46.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676647690498[0m ×2 + 46.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179417473597 ×2 + 46.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179417473597[0m ×4 + 46.47sWARNcontroller_managerOverrun might occur, Total time : 1755.549 us (Expected < 1666.667 us) --> Read time : 485.241 us, Update time : 698.455 us, Write time : 571.853 us + 46.48sWARNros2_control_nodeOverrun might occur, Total time : 1755.549 us (Expected < 1666.667 us) --> Read time : 485.241 us, Update time : 698.455 us, Write time : 571.853 us[0m ×2 + 46.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499965545721 + 46.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499965545721[0m ×2 + 46.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046965215481 + 46.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046965215481[0m ×2 + 46.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830747534930 + 46.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830747534930[0m ×2 + 46.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330282214780 ×2 + 46.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330282214780[0m ×4 + 46.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626727823320 + 46.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626727823320[0m ×2 + 46.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328300039450 + 46.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328300039450[0m ×2 + 46.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135794419691 ×2 + 46.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135794419691[0m ×4 + 46.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344143870254 + 46.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344143870254[0m ×2 + 46.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108478110609 + 46.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108478110609[0m ×2 + 46.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005557741655691 + 46.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005557741655691[0m ×2 + 46.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793362844251 + 46.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793362844251[0m ×2 + 46.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003123287848817 + 46.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003123287848817[0m ×2 + 46.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421239238527 ×2 + 46.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421239238527[0m ×4 + 46.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623578910928 + 46.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623578910928[0m ×2 + 46.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090560727198 ×2 + 46.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090560727198[0m ×4 + 46.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247235791512 + 46.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247235791512[0m ×2 + 46.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823590994773 + 46.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823590994773[0m ×2 + 46.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822430570686 + 46.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822430570686[0m ×2 + 46.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662059048559 ×2 + 46.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662059048559[0m ×4 + 46.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017953987676 + 46.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017953987676[0m ×2 + 46.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878187468824 + 46.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878187468824[0m ×2 + 46.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386522244554 ×2 + 46.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386522244554[0m ×4 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455543 ms (missed cycles : 3). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455543 ms (missed cycles : 3).[0m ×2 + 46.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656015833611 + 46.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656015833611[0m ×2 + 46.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102607560402 + 46.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102607560402[0m ×2 + 46.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813224261860 ×2 + 46.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813224261860[0m ×4 + 46.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812784269177 + 46.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812784269177[0m ×2 + 46.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132325698473 + 46.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132325698473[0m ×2 + 46.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002239690581151 + 46.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002239690581151[0m ×2 + 46.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001030232072696 ×2 + 46.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001030232072696[0m ×4 + 46.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306168267325 + 46.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306168267325[0m ×2 + 46.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625396046185 + 46.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625396046185[0m ×2 + 46.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124919909866 + 46.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124919909866[0m ×2 + 46.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005033764904787 + 46.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005033764904787[0m ×2 + 46.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837102497965 ×2 + 46.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837102497965[0m ×4 + 46.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099325344543 + 46.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099325344543[0m ×2 + 46.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885105917040 + 46.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885105917040[0m ×2 + 46.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352213900276 + 46.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352213900276[0m ×2 + 46.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348016759863 + 46.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348016759863[0m ×2 + 46.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946759979794 + 46.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946759979794[0m ×2 + 46.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918036494870 ×2 + 46.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918036494870[0m ×4 + 46.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784713401164 + 46.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784713401164[0m ×2 + 46.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025456434456 + 46.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025456434456[0m ×2 + 46.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223058918774 + 46.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223058918774[0m ×2 + 46.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353195663194 + 46.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353195663194[0m ×2 + 47.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000565492955 + 47.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000565492955[0m ×2 + 47.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984190043331 ×2 + 47.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984190043331[0m ×4 + 47.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514511019205 + 47.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514511019205[0m ×2 + 47.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007996834420352 + 47.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007996834420352[0m ×2 + 47.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434457767497 + 47.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434457767497[0m ×2 + 47.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007940722147811 + 47.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007940722147811[0m ×2 + 47.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236695397961 + 47.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236695397961[0m ×2 + 47.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711513833897 + 47.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711513833897[0m ×2 + 47.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008280080592139 + 47.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008280080592139[0m ×2 + 47.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397570334269 ×2 + 47.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397570334269[0m ×4 + 47.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006726071986353 + 47.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006726071986353[0m ×2 + 47.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015277610904 ×2 + 47.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015277610904[0m ×4 + 47.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548144203599 + 47.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548144203599[0m ×2 + 47.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007442705762324 + 47.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007442705762324[0m ×2 + 47.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358477288007 + 47.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358477288007[0m ×2 + 47.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995471593438 + 47.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995471593438[0m ×2 + 47.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006741128102367 + 47.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006741128102367[0m ×2 + 47.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226788951265 + 47.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226788951265[0m ×2 + 47.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006936505982549 + 47.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006936505982549[0m ×2 + 47.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526382183308 ×2 + 47.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526382183308[0m ×4 + 47.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058099343472 + 47.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058099343472[0m ×2 + 47.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007687843123590 + 47.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007687843123590[0m ×2 + 47.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542009796024 ×2 + 47.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542009796024[0m ×4 + 47.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007886220774791 + 47.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007886220774791[0m ×2 + 47.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006285118036211 ×2 + 47.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006285118036211[0m ×4 + 47.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007696789484333 + 47.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007696789484333[0m ×2 + 47.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451861231163 + 47.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451861231163[0m ×2 + 47.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007709905939621 ×2 + 47.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007709905939621[0m ×4 + 47.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390303852251 + 47.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390303852251[0m ×2 + 47.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007596800434511 + 47.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007596800434511[0m ×2 + 47.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005975611406267 + 47.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005975611406267[0m ×2 + 47.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465086184270 + 47.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465086184270[0m ×2 + 47.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007128436322400 + 47.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007128436322400[0m ×2 + 47.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008132771820002 + 47.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008132771820002[0m ×2 + 47.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273472503487 ×2 + 47.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273472503487[0m ×4 + 47.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817111531933 + 47.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817111531933[0m ×2 + 47.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760742558385 + 47.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760742558385[0m ×2 + 47.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006679186354808 ×2 + 47.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006679186354808[0m ×4 + 47.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007847932163527 + 47.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007847932163527[0m ×2 + 47.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008492456367551 + 47.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008492456367551[0m ×2 + 47.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008787817183484 + 47.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008787817183484[0m ×2 + 47.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010048022535066 + 47.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010048022535066[0m ×2 + 47.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007665447677160 + 47.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007665447677160[0m ×2 + 47.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756984559727 ×2 + 47.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756984559727[0m ×4 + 47.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328688545481 + 47.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328688545481[0m ×2 + 47.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062306869210 + 47.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062306869210[0m ×2 + 47.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514750629125 ×2 + 47.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514750629125[0m ×4 + 47.52sWARNcontroller_managerOverrun might occur, Total time : 2252.741 us (Expected < 1666.667 us) --> Read time : 228.665 us, Update time : 151.524 us, Write time : 1872.552 us + 47.52sWARNros2_control_nodeOverrun might occur, Total time : 2252.741 us (Expected < 1666.667 us) --> Read time : 228.665 us, Update time : 151.524 us, Write time : 1872.552 us[0m ×2 + 47.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788115476213 + 47.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788115476213[0m ×2 + 47.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302195492767 ×2 + 47.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302195492767[0m ×4 + 47.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007781447762268 + 47.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007781447762268[0m ×2 + 47.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712256503600 + 47.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712256503600[0m ×2 + 47.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000474536213289 + 47.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000474536213289[0m ×2 + 47.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000617165040958 + 47.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000617165040958[0m ×2 + 47.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576960208519 + 47.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576960208519[0m ×2 + 47.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217674284665 ×2 + 47.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217674284665[0m ×4 + 47.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007752932534647 + 47.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007752932534647[0m ×2 + 47.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008537666345997 ×2 + 47.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008537666345997[0m ×4 + 47.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839737270687 + 47.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839737270687[0m ×2 + 47.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762348268712 + 47.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762348268712[0m ×2 + 47.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122713902491 ×2 + 47.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122713902491[0m ×4 + 47.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523256669120 + 47.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523256669120[0m ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931356 ms (missed cycles : 2). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931356 ms (missed cycles : 2).[0m ×2 + 47.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000766376564020 + 47.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000766376564020[0m ×2 + 47.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000838410186618 + 47.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000838410186618[0m ×2 + 47.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712719083823 + 47.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712719083823[0m ×2 + 47.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000560335108865 + 47.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000560335108865[0m ×2 + 47.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411896785309 + 47.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411896785309[0m ×2 + 47.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000282945452365 ×2 + 47.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000282945452365[0m ×4 + 47.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179381039819 + 47.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179381039819[0m ×2 + 47.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101389421870 + 47.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101389421870[0m ×2 + 47.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046137195018 ×2 + 47.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046137195018[0m ×4 + 47.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009522883261 + 47.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009522883261[0m ×2 + 47.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012760798520 + 47.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012760798520[0m ×2 + 47.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024644438028 ×2 + 47.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024644438028[0m ×4 + 47.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029416525360 + 47.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029416525360[0m ×2 + 47.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027268317214 + 47.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027268317214[0m ×2 + 47.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023595672733 + 47.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023595672733[0m ×2 + 47.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019518753275 ×2 + 47.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019518753275[0m ×4 + 47.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015575275141 + 47.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015575275141[0m ×2 + 47.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012056584656 ×2 + 47.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012056584656[0m ×4 + 47.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009087364150 + 47.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009087364150[0m ×2 + 47.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006686859658 + 47.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006686859658[0m ×2 + 47.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004813515279 + 47.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004813515279[0m ×2 + 47.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003395832375 + 47.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003395832375[0m ×2 + 47.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002352461255 + 47.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002352461255[0m ×2 + 47.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001604306461 + 47.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001604306461[0m ×2 + 47.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001081003538 + 47.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001081003538[0m ×2 + 47.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000723643080 + 47.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000723643080[0m ×2 + 48.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000485156754 + 48.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000485156754[0m ×2 + 48.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000329379933 + 48.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000329379933[0m ×2 + 48.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000229481564 + 48.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000229481564[0m ×2 + 48.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166203373 ×2 + 48.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166203373[0m ×4 + 48.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126169351 + 48.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126169351[0m ×2 + 48.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004527952862 + 48.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004527952862[0m ×2 + 48.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003605711502 + 48.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781205632.03350449 seconds ×3 + 48.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003605711502[0m ×2 + 48.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.62sWARNcontroller_managerOverrun might occur, Total time : 2332.973 us (Expected < 1666.667 us) --> Read time : 499.851 us, Update time : 704.196 us, Write time : 1128.926 us + 48.62sWARNros2_control_nodeOverrun might occur, Total time : 2332.973 us (Expected < 1666.667 us) --> Read time : 499.851 us, Update time : 704.196 us, Write time : 1128.926 us[0m ×2 + 48.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781205632.74755907 seconds. ×3 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423447 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423447 ms (missed cycles : 2).[0m ×2 + 48.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.95sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 48.96sINFOros2_control_node[2026-06-11 19:20:32.931] [info] Received new action goal ×2 + 48.96sINFOros2_control_node[2026-06-11 19:20:32.931] [info] Accepted new action goal ×2 + 49.77sWARNcontroller_managerOverrun might occur, Total time : 1897.013 us (Expected < 1666.667 us) --> Read time : 231.435 us, Update time : 89.872 us, Write time : 1575.706 us + 49.77sWARNros2_control_nodeOverrun might occur, Total time : 1897.013 us (Expected < 1666.667 us) --> Read time : 231.435 us, Update time : 89.872 us, Write time : 1575.706 us[0m ×2 + 49.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267265 ms (missed cycles : 4). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267265 ms (missed cycles : 4).[0m ×2 + 50.78sWARNcontroller_managerOverrun might occur, Total time : 1938.474 us (Expected < 1666.667 us) --> Read time : 195.745 us, Update time : 46.371 us, Write time : 1696.358 us + 50.78sWARNros2_control_nodeOverrun might occur, Total time : 1938.474 us (Expected < 1666.667 us) --> Read time : 195.745 us, Update time : 46.371 us, Write time : 1696.358 us[0m ×2 + 50.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797617 ms (missed cycles : 3). + 50.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797617 ms (missed cycles : 3).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.2s	267 warnings · 322 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 1.16sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062216 ms (missed cycles : 6). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062216 ms (missed cycles : 6).[0m ×2 + 7.02sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.03sINFOros2_control_node[2026-06-11 19:18:57.953] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-06-11 19:18:57.953] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 4253.487 us (Expected < 1666.667 us) --> Read time : 201.774 us, Update time : 3482.980 us, Write time : 568.733 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 4253.487 us (Expected < 1666.667 us) --> Read time : 201.774 us, Update time : 3482.980 us, Write time : 568.733 us[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349048 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349048 ms (missed cycles : 3).[0m ×2 + 8.38sWARNcontroller_managerOverrun might occur, Total time : 1866.093 us (Expected < 1666.667 us) --> Read time : 450.940 us, Update time : 690.946 us, Write time : 724.207 us + 8.38sWARNros2_control_nodeOverrun might occur, Total time : 1866.093 us (Expected < 1666.667 us) --> Read time : 450.940 us, Update time : 690.946 us, Write time : 724.207 us[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403644 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403644 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun might occur, Total time : 1942.805 us (Expected < 1666.667 us) --> Read time : 367.809 us, Update time : 73.461 us, Write time : 1501.535 us + 9.52sWARNros2_control_nodeOverrun might occur, Total time : 1942.805 us (Expected < 1666.667 us) --> Read time : 367.809 us, Update time : 73.461 us, Write time : 1501.535 us[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066843 ms (missed cycles : 4). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066843 ms (missed cycles : 4).[0m ×2 + 10.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.29sINFOros2_control_node[2026-06-11 19:19:01.203] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-06-11 19:19:01.203] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun might occur, Total time : 6099.430 us (Expected < 1666.667 us) --> Read time : 741.888 us, Update time : 58.801 us, Write time : 5298.741 us + 10.57sWARNros2_control_nodeOverrun might occur, Total time : 6099.430 us (Expected < 1666.667 us) --> Read time : 741.888 us, Update time : 58.801 us, Write time : 5298.741 us[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701539 ms (missed cycles : 5). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701539 ms (missed cycles : 5).[0m ×2 + 11.66sWARNcontroller_managerOverrun might occur, Total time : 2278.172 us (Expected < 1666.667 us) --> Read time : 351.568 us, Update time : 428.639 us, Write time : 1497.965 us + 11.66sWARNros2_control_nodeOverrun might occur, Total time : 2278.172 us (Expected < 1666.667 us) --> Read time : 351.568 us, Update time : 428.639 us, Write time : 1497.965 us[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.650232 ms (missed cycles : 6). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.650232 ms (missed cycles : 6).[0m ×2 + 12.79sWARNcontroller_managerOverrun might occur, Total time : 7567.834 us (Expected < 1666.667 us) --> Read time : 212.495 us, Update time : 6815.706 us, Write time : 539.633 us + 12.79sWARNros2_control_nodeOverrun might occur, Total time : 7567.834 us (Expected < 1666.667 us) --> Read time : 212.495 us, Update time : 6815.706 us, Write time : 539.633 us[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551835 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551835 ms (missed cycles : 4).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×6 + 13.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.29sINFOros2_control_node[2026-06-11 19:19:04.206] [info] Received new action goal ×2 + 13.29sINFOros2_control_node[2026-06-11 19:19:04.206] [info] Accepted new action goal ×2 + 13.80sWARNcontroller_managerOverrun might occur, Total time : 3064.810 us (Expected < 1666.667 us) --> Read time : 204.725 us, Update time : 2390.804 us, Write time : 469.281 us + 13.81sWARNros2_control_nodeOverrun might occur, Total time : 3064.810 us (Expected < 1666.667 us) --> Read time : 204.725 us, Update time : 2390.804 us, Write time : 469.281 us[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.301505 ms (missed cycles : 7). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.301505 ms (missed cycles : 7).[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595228 ms (missed cycles : 6). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.595228 ms (missed cycles : 6).[0m ×2 + 15.21sWARNcontroller_managerOverrun might occur, Total time : 1780.481 us (Expected < 1666.667 us) --> Read time : 304.547 us, Update time : 50.141 us, Write time : 1425.793 us + 15.22sWARNros2_control_nodeOverrun might occur, Total time : 1780.481 us (Expected < 1666.667 us) --> Read time : 304.547 us, Update time : 50.141 us, Write time : 1425.793 us[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947741 ms (missed cycles : 4). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947741 ms (missed cycles : 4).[0m ×2 + 16.27sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.27sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.27sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.48sWARNcontroller_managerOverrun might occur, Total time : 2101.718 us (Expected < 1666.667 us) --> Read time : 223.555 us, Update time : 895.020 us, Write time : 983.143 us + 16.48sWARNros2_control_nodeOverrun might occur, Total time : 2101.718 us (Expected < 1666.667 us) --> Read time : 223.555 us, Update time : 895.020 us, Write time : 983.143 us[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097582 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097582 ms (missed cycles : 2).[0m ×2 + 17.53sWARNcontroller_managerOverrun might occur, Total time : 9951.759 us (Expected < 1666.667 us) --> Read time : 221.085 us, Update time : 114.663 us, Write time : 9616.011 us + 17.54sWARNros2_control_nodeOverrun might occur, Total time : 9951.759 us (Expected < 1666.667 us) --> Read time : 221.085 us, Update time : 114.663 us, Write time : 9616.011 us[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949399 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949399 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun might occur, Total time : 4822.561 us (Expected < 1666.667 us) --> Read time : 239.395 us, Update time : 4080.925 us, Write time : 502.241 us + 18.69sWARNros2_control_nodeOverrun might occur, Total time : 4822.561 us (Expected < 1666.667 us) --> Read time : 239.395 us, Update time : 4080.925 us, Write time : 502.241 us[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111958 ms (missed cycles : 5). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111958 ms (missed cycles : 5).[0m ×2 + 19.70sWARNcontroller_managerOverrun might occur, Total time : 2252.802 us (Expected < 1666.667 us) --> Read time : 939.822 us, Update time : 357.998 us, Write time : 954.982 us + 19.70sWARNros2_control_nodeOverrun might occur, Total time : 2252.802 us (Expected < 1666.667 us) --> Read time : 939.822 us, Update time : 357.998 us, Write time : 954.982 us[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353350 ms (missed cycles : 4). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353350 ms (missed cycles : 4).[0m ×2 + 20.93sWARNcontroller_managerOverrun might occur, Total time : 3348.567 us (Expected < 1666.667 us) --> Read time : 294.347 us, Update time : 2468.337 us, Write time : 585.883 us + 20.93sWARNros2_control_nodeOverrun might occur, Total time : 3348.567 us (Expected < 1666.667 us) --> Read time : 294.347 us, Update time : 2468.337 us, Write time : 585.883 us[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.294901 ms (missed cycles : 7). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.294901 ms (missed cycles : 7).[0m ×2 + 22.02sWARNcontroller_managerOverrun might occur, Total time : 2726.322 us (Expected < 1666.667 us) --> Read time : 315.727 us, Update time : 107.072 us, Write time : 2303.523 us + 22.02sWARNros2_control_nodeOverrun might occur, Total time : 2726.322 us (Expected < 1666.667 us) --> Read time : 315.727 us, Update time : 107.072 us, Write time : 2303.523 us[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880894 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880894 ms (missed cycles : 2).[0m ×2 + 23.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750011 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750011 ms (missed cycles : 3).[0m ×2 + 23.37sWARNcontroller_managerOverrun might occur, Total time : 7015.591 us (Expected < 1666.667 us) --> Read time : 235.155 us, Update time : 63.742 us, Write time : 6716.694 us + 23.37sWARNros2_control_nodeOverrun might occur, Total time : 7015.591 us (Expected < 1666.667 us) --> Read time : 235.155 us, Update time : 63.742 us, Write time : 6716.694 us[0m ×2 + 23.97sINFOros2_control_node[2026-06-11 19:19:14.886] [info] Received new action goal ×2 + 23.97sINFOros2_control_node[2026-06-11 19:19:14.886] [info] Accepted new action goal ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430746 ms (missed cycles : 4). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430746 ms (missed cycles : 4).[0m ×2 + 24.45sWARNcontroller_managerOverrun might occur, Total time : 9240.961 us (Expected < 1666.667 us) --> Read time : 279.856 us, Update time : 8206.358 us, Write time : 754.747 us + 24.45sWARNros2_control_nodeOverrun might occur, Total time : 9240.961 us (Expected < 1666.667 us) --> Read time : 279.856 us, Update time : 8206.358 us, Write time : 754.747 us[0m ×2 + 25.16sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.17sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887487 ms (missed cycles : 2). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887487 ms (missed cycles : 2).[0m ×2 + 25.47sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.50sINFOros2_control_node[2026-06-11 19:19:16.420] [info] Received new action goal ×2 + 25.50sINFOros2_control_node[2026-06-11 19:19:16.420] [info] Accepted new action goal ×2 + 25.60sWARNcontroller_managerOverrun might occur, Total time : 5688.161 us (Expected < 1666.667 us) --> Read time : 372.659 us, Update time : 70.632 us, Write time : 5244.870 us + 25.60sWARNros2_control_nodeOverrun might occur, Total time : 5688.161 us (Expected < 1666.667 us) --> Read time : 372.659 us, Update time : 70.632 us, Write time : 5244.870 us[0m ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541390 ms (missed cycles : 6). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.541390 ms (missed cycles : 6).[0m ×2 + 26.92sWARNcontroller_managerOverrun might occur, Total time : 1967.615 us (Expected < 1666.667 us) --> Read time : 407.359 us, Update time : 86.812 us, Write time : 1473.444 us + 26.92sWARNros2_control_nodeOverrun might occur, Total time : 1967.615 us (Expected < 1666.667 us) --> Read time : 407.359 us, Update time : 86.812 us, Write time : 1473.444 us[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.666922 ms (missed cycles : 6). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.666922 ms (missed cycles : 6).[0m ×2 + 27.62sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 27.63sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.64sINFOros2_control_node[2026-06-11 19:19:18.562] [info] Received new action goal ×2 + 27.65sINFOros2_control_node[2026-06-11 19:19:18.562] [info] Accepted new action goal ×2 + 28.25sWARNcontroller_managerOverrun might occur, Total time : 4121.345 us (Expected < 1666.667 us) --> Read time : 266.106 us, Update time : 86.282 us, Write time : 3768.957 us + 28.26sWARNros2_control_nodeOverrun might occur, Total time : 4121.345 us (Expected < 1666.667 us) --> Read time : 266.106 us, Update time : 86.282 us, Write time : 3768.957 us[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369296 ms (missed cycles : 3). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369296 ms (missed cycles : 3).[0m ×2 + 29.42sWARNcontroller_managerOverrun might occur, Total time : 5392.594 us (Expected < 1666.667 us) --> Read time : 360.248 us, Update time : 83.152 us, Write time : 4949.194 us + 29.42sWARNros2_control_nodeOverrun might occur, Total time : 5392.594 us (Expected < 1666.667 us) --> Read time : 360.248 us, Update time : 83.152 us, Write time : 4949.194 us[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601374 ms (missed cycles : 3). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601374 ms (missed cycles : 3).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585696 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585696 ms (missed cycles : 3).[0m ×2 + 30.73sINFOros2_control_node[2026-06-11 19:19:21.648] [info] Received new action goal ×2 + 30.73sINFOros2_control_node[2026-06-11 19:19:21.648] [info] Accepted new action goal ×2 + 30.82sWARNcontroller_managerOverrun might occur, Total time : 1923.524 us (Expected < 1666.667 us) --> Read time : 219.965 us, Update time : 322.378 us, Write time : 1381.181 us + 30.82sWARNros2_control_nodeOverrun might occur, Total time : 1923.524 us (Expected < 1666.667 us) --> Read time : 219.965 us, Update time : 322.378 us, Write time : 1381.181 us[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861536 ms (missed cycles : 5). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861536 ms (missed cycles : 5).[0m ×2 + 31.87sWARNcontroller_managerOverrun might occur, Total time : 2162.879 us (Expected < 1666.667 us) --> Read time : 291.177 us, Update time : 680.755 us, Write time : 1190.947 us + 31.87sWARNros2_control_nodeOverrun might occur, Total time : 2162.879 us (Expected < 1666.667 us) --> Read time : 291.177 us, Update time : 680.755 us, Write time : 1190.947 us[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105539 ms (missed cycles : 5). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105539 ms (missed cycles : 5).[0m ×2 + 33.07sWARNcontroller_managerOverrun might occur, Total time : 1785.121 us (Expected < 1666.667 us) --> Read time : 215.225 us, Update time : 57.321 us, Write time : 1512.575 us + 33.07sWARNros2_control_nodeOverrun might occur, Total time : 1785.121 us (Expected < 1666.667 us) --> Read time : 215.225 us, Update time : 57.321 us, Write time : 1512.575 us[0m ×2 + 33.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.35sINFOros2_control_node[2026-06-11 19:19:24.271] [info] Received new action goal ×2 + 33.35sINFOros2_control_node[2026-06-11 19:19:24.271] [info] Accepted new action goal ×2 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514811 ms (missed cycles : 3). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514811 ms (missed cycles : 3).[0m ×2 + 34.12sWARNcontroller_managerOverrun might occur, Total time : 2835.035 us (Expected < 1666.667 us) --> Read time : 240.026 us, Update time : 2140.209 us, Write time : 454.800 us + 34.12sWARNros2_control_nodeOverrun might occur, Total time : 2835.035 us (Expected < 1666.667 us) --> Read time : 240.026 us, Update time : 2140.209 us, Write time : 454.800 us[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067300 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067300 ms (missed cycles : 2).[0m ×2 + 35.18sWARNcontroller_managerOverrun might occur, Total time : 2075.277 us (Expected < 1666.667 us) --> Read time : 331.247 us, Update time : 756.308 us, Write time : 987.722 us + 35.18sWARNros2_control_nodeOverrun might occur, Total time : 2075.277 us (Expected < 1666.667 us) --> Read time : 331.247 us, Update time : 756.308 us, Write time : 987.722 us[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.651838 ms (missed cycles : 6). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.651838 ms (missed cycles : 6).[0m ×2 + 36.47sWARNcontroller_managerOverrun might occur, Total time : 2040.727 us (Expected < 1666.667 us) --> Read time : 238.006 us, Update time : 776.797 us, Write time : 1025.924 us + 36.47sWARNros2_control_nodeOverrun might occur, Total time : 2040.727 us (Expected < 1666.667 us) --> Read time : 238.006 us, Update time : 776.797 us, Write time : 1025.924 us[0m ×2 + 36.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010802 ms (missed cycles : 5). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.010802 ms (missed cycles : 5).[0m ×2 + 37.84sWARNcontroller_managerOverrun might occur, Total time : 2401.626 us (Expected < 1666.667 us) --> Read time : 344.228 us, Update time : 184.055 us, Write time : 1873.343 us + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641682 ms (missed cycles : 2). + 37.84sWARNros2_control_nodeOverrun might occur, Total time : 2401.626 us (Expected < 1666.667 us) --> Read time : 344.228 us, Update time : 184.055 us, Write time : 1873.343 us[0m ×2 + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641682 ms (missed cycles : 2).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831948 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831948 ms (missed cycles : 2).[0m ×2 + 38.97sWARNcontroller_managerOverrun might occur, Total time : 3001.918 us (Expected < 1666.667 us) --> Read time : 351.048 us, Update time : 2014.726 us, Write time : 636.144 us + 38.97sWARNros2_control_nodeOverrun might occur, Total time : 3001.918 us (Expected < 1666.667 us) --> Read time : 351.048 us, Update time : 2014.726 us, Write time : 636.144 us[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912898 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912898 ms (missed cycles : 2).[0m ×2 + 39.98sWARNcontroller_managerOverrun might occur, Total time : 5744.971 us (Expected < 1666.667 us) --> Read time : 245.756 us, Update time : 111.982 us, Write time : 5387.233 us + 39.98sWARNros2_control_nodeOverrun might occur, Total time : 5744.971 us (Expected < 1666.667 us) --> Read time : 245.756 us, Update time : 111.982 us, Write time : 5387.233 us[0m ×2 + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333642 ms (missed cycles : 3). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333642 ms (missed cycles : 3).[0m ×2 + 41.39sWARNcontroller_managerOverrun might occur, Total time : 1964.735 us (Expected < 1666.667 us) --> Read time : 229.835 us, Update time : 735.367 us, Write time : 999.533 us + 41.39sWARNros2_control_nodeOverrun might occur, Total time : 1964.735 us (Expected < 1666.667 us) --> Read time : 229.835 us, Update time : 735.367 us, Write time : 999.533 us[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669943 ms (missed cycles : 5). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669943 ms (missed cycles : 5).[0m ×2 + 42.42sWARNcontroller_managerOverrun might occur, Total time : 1756.480 us (Expected < 1666.667 us) --> Read time : 212.695 us, Update time : 100.472 us, Write time : 1443.313 us + 42.42sWARNros2_control_nodeOverrun might occur, Total time : 1756.480 us (Expected < 1666.667 us) --> Read time : 212.695 us, Update time : 100.472 us, Write time : 1443.313 us[0m ×2 + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794159 ms (missed cycles : 2). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794159 ms (missed cycles : 2).[0m ×2 + 43.53sWARNcontroller_managerOverrun might occur, Total time : 1880.543 us (Expected < 1666.667 us) --> Read time : 255.556 us, Update time : 77.262 us, Write time : 1547.725 us + 43.53sWARNros2_control_nodeOverrun might occur, Total time : 1880.543 us (Expected < 1666.667 us) --> Read time : 255.556 us, Update time : 77.262 us, Write time : 1547.725 us[0m ×2 + 44.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593242 ms (missed cycles : 2). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593242 ms (missed cycles : 2).[0m ×2 + 44.20sINFOros2_control_node[2026-06-11 19:19:35.118] [info] Received new action goal ×2 + 44.20sINFOros2_control_node[2026-06-11 19:19:35.118] [info] Accepted new action goal ×2 + 44.69sINFOros2_control_nodeMuJoCo sim: 1.57% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 44.75sWARNcontroller_managerOverrun might occur, Total time : 12541.777 us (Expected < 1666.667 us) --> Read time : 224.955 us, Update time : 11664.577 us, Write time : 652.245 us + 44.75sWARNros2_control_nodeOverrun might occur, Total time : 12541.777 us (Expected < 1666.667 us) --> Read time : 224.955 us, Update time : 11664.577 us, Write time : 652.245 us[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.524632 ms (missed cycles : 7). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.524632 ms (missed cycles : 7).[0m ×2 + 45.36sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781205576.27433157 seconds ×3 + 45.98sWARNcontroller_managerOverrun might occur, Total time : 2335.734 us (Expected < 1666.667 us) --> Read time : 566.763 us, Update time : 68.602 us, Write time : 1700.369 us + 45.98sWARNros2_control_nodeOverrun might occur, Total time : 2335.734 us (Expected < 1666.667 us) --> Read time : 566.763 us, Update time : 68.602 us, Write time : 1700.369 us[0m ×2 + 46.09sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781205577.00463295 seconds. ×3 + 46.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306231 ms (missed cycles : 7). + 46.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306231 ms (missed cycles : 7).[0m ×2 + 46.98sWARNcontroller_managerOverrun might occur, Total time : 4958.394 us (Expected < 1666.667 us) --> Read time : 393.769 us, Update time : 73.822 us, Write time : 4490.803 us + 46.98sWARNros2_control_nodeOverrun might occur, Total time : 4958.394 us (Expected < 1666.667 us) --> Read time : 393.769 us, Update time : 73.822 us, Write time : 4490.803 us[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904636 ms (missed cycles : 5). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904636 ms (missed cycles : 5).[0m ×2 + 47.35sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 47.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 47.37sINFOros2_control_node[2026-06-11 19:19:38.285] [info] Received new action goal ×2 + 47.37sINFOros2_control_node[2026-06-11 19:19:38.285] [info] Accepted new action goal ×2 + 48.02sWARNcontroller_managerOverrun might occur, Total time : 1965.805 us (Expected < 1666.667 us) --> Read time : 512.252 us, Update time : 161.544 us, Write time : 1292.009 us + 48.03sWARNros2_control_nodeOverrun might occur, Total time : 1965.805 us (Expected < 1666.667 us) --> Read time : 512.252 us, Update time : 161.544 us, Write time : 1292.009 us[0m ×2 + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214133 ms (missed cycles : 4). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214133 ms (missed cycles : 4).[0m ×2
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	30.9s	3579 errors · 214 warnings · 11237 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2444 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002232099296 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4888 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002232099296[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255006276 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255006276[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000182172266 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000182172266[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364005393 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364005393[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002421252458 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002421252458[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170827849 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170827849[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000302658643 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000302658643[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002515223274 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002515223274[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000294107078 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000294107078[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388153850 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388153850[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001650545138 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001650545138[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000422390194 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000422390194[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142259289 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142259289[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165378348 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165378348[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001353866544 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001353866544[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285615142 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285615142[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001910326448 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001910326448[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286909533 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286909533[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000211438018 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000211438018[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171068713 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171068713[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000269245345 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000269245345[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371453851 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371453851[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255600132 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255600132[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195501057 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195501057[0m ×2 + 0.22sWARNcontroller_managerOverrun might occur, Total time : 3072.120 us (Expected < 1666.667 us) --> Read time : 277.786 us, Update time : 104.173 us, Write time : 2690.161 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 3072.120 us (Expected < 1666.667 us) --> Read time : 277.786 us, Update time : 104.173 us, Write time : 2690.161 us[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153170021 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153170021[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000203022814 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000203022814[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000845170753 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000845170753[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000406438796 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000406438796[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152996319 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152996319[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001243959243 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001243959243[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000297617951 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000297617951[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001483277443 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001483277443[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140677386 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140677386[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231461995 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231461995[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001303623396 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001303623396[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143900741 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143900741[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214943868 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214943868[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001712684799 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001712684799[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001427313369 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001427313369[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216820920 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216820920[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517823614 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517823614[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001584490030 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001584490030[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000276270103 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000276270103[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001386915690 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001386915690[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142672992 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142672992[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214405434 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214405434[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001475084103 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001475084103[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144349262 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144349262[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204409848 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204409848[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001680719574 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001680719574[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385417456 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385417456[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000208023835 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000208023835[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001774343806 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001774343806[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001144812935 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001144812935[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121117641 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121117641[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130696724 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130696724[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001013762036 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001013762036[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001019952743 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001019952743[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001041501582 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001041501582[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000950086873 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000950086873[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164169189 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164169189[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000872446755 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000872446755[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000927224009 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000927224009[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001294236529 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001294236529[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000809181004 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000809181004[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000699040096 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000699040096[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001210391464 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001210391464[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000969611273 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000969611273[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000796815934 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000796815934[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156252842 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156252842[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001098424442 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001098424442[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000899840067 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000899840067[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860539189 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860539189[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000876567662 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000876567662[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000695256255 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000695256255[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558941728 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558941728[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450233514 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450233514[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371768176 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371768176[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000426366614 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000426366614[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000783280072 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000783280072[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627263798 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627263798[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501071161 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501071161[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501630662 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501630662[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398404802 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398404802[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000316484939 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000316484939[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000251454852 ×2 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000251454852[0m ×4 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000199817633 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000199817633[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000158803862 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000158803862[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000126220036 ×2 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000126220036[0m ×4 + 0.85sINFOjoint_trajectory_controllerAccepted new action goal ×1251 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102078 ms (missed cycles : 5). + 0.86sINFOros2_control_nodeAccepted new action goal[0m ×2502 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102078 ms (missed cycles : 5).[0m ×2 + 1.28sWARNcontroller_managerOverrun might occur, Total time : 4077.822 us (Expected < 1666.667 us) --> Read time : 280.596 us, Update time : 3194.522 us, Write time : 602.704 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 4077.822 us (Expected < 1666.667 us) --> Read time : 280.596 us, Update time : 3194.522 us, Write time : 602.704 us[0m ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842874 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842874 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 5693.320 us (Expected < 1666.667 us) --> Read time : 251.356 us, Update time : 81.032 us, Write time : 5360.932 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 5693.320 us (Expected < 1666.667 us) --> Read time : 251.356 us, Update time : 81.032 us, Write time : 5360.932 us[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887854 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887854 ms (missed cycles : 3).[0m ×2 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 5356.972 us (Expected < 1666.667 us) --> Read time : 291.367 us, Update time : 4546.083 us, Write time : 519.522 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 5356.972 us (Expected < 1666.667 us) --> Read time : 291.367 us, Update time : 4546.083 us, Write time : 519.522 us[0m ×2 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781205654.25452590 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017202 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017202 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781205654.89096022 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.48sINFOros2_control_node[2026-06-11 19:20:55.075] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-06-11 19:20:55.075] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2291.972 us (Expected < 1666.667 us) --> Read time : 231.585 us, Update time : 93.262 us, Write time : 1967.125 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2291.972 us (Expected < 1666.667 us) --> Read time : 231.585 us, Update time : 93.262 us, Write time : 1967.125 us[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333273 ms (missed cycles : 7). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333273 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 2450.185 us (Expected < 1666.667 us) --> Read time : 264.866 us, Update time : 1410.122 us, Write time : 775.197 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 2450.185 us (Expected < 1666.667 us) --> Read time : 264.866 us, Update time : 1410.122 us, Write time : 775.197 us[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615585 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615585 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 3569.731 us (Expected < 1666.667 us) --> Read time : 234.855 us, Update time : 280.977 us, Write time : 3053.899 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 3569.731 us (Expected < 1666.667 us) --> Read time : 234.855 us, Update time : 280.977 us, Write time : 3053.899 us[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.82sINFOros2_control_node[2026-06-11 19:20:57.414] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-06-11 19:20:57.414] [info] Accepted new action goal ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299570 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299570 ms (missed cycles : 4).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939929 ms (missed cycles : 5). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939929 ms (missed cycles : 5).[0m ×2 + 8.12sWARNcontroller_managerOverrun might occur, Total time : 1921.844 us (Expected < 1666.667 us) --> Read time : 315.427 us, Update time : 1147.406 us, Write time : 459.011 us + 8.12sWARNros2_control_nodeOverrun might occur, Total time : 1921.844 us (Expected < 1666.667 us) --> Read time : 315.427 us, Update time : 1147.406 us, Write time : 459.011 us[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.912560 ms (missed cycles : 8). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.912560 ms (missed cycles : 8).[0m ×2 + 9.19sWARNcontroller_managerOverrun might occur, Total time : 4256.977 us (Expected < 1666.667 us) --> Read time : 224.386 us, Update time : 3487.049 us, Write time : 545.542 us + 9.19sWARNros2_control_nodeOverrun might occur, Total time : 4256.977 us (Expected < 1666.667 us) --> Read time : 224.386 us, Update time : 3487.049 us, Write time : 545.542 us[0m ×2 + 9.33sINFOros2_control_node[2026-06-11 19:20:59.916] [info] Received new action goal ×2 + 9.33sINFOros2_control_node[2026-06-11 19:20:59.916] [info] Accepted new action goal ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576622 ms (missed cycles : 6). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576622 ms (missed cycles : 6).[0m ×2 + 10.43sWARNcontroller_managerOverrun might occur, Total time : 2142.669 us (Expected < 1666.667 us) --> Read time : 342.558 us, Update time : 88.292 us, Write time : 1711.819 us + 10.43sWARNros2_control_nodeOverrun might occur, Total time : 2142.669 us (Expected < 1666.667 us) --> Read time : 342.558 us, Update time : 88.292 us, Write time : 1711.819 us[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305466 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305466 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun might occur, Total time : 5730.229 us (Expected < 1666.667 us) --> Read time : 219.095 us, Update time : 64.801 us, Write time : 5446.333 us + 11.54sWARNros2_control_nodeOverrun might occur, Total time : 5730.229 us (Expected < 1666.667 us) --> Read time : 219.095 us, Update time : 64.801 us, Write time : 5446.333 us[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989907 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989907 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun might occur, Total time : 2075.587 us (Expected < 1666.667 us) --> Read time : 216.515 us, Update time : 1370.561 us, Write time : 488.511 us + 12.58sWARNros2_control_nodeOverrun might occur, Total time : 2075.587 us (Expected < 1666.667 us) --> Read time : 216.515 us, Update time : 1370.561 us, Write time : 488.511 us[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990215 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990215 ms (missed cycles : 3).[0m ×2 + 13.65sWARNcontroller_managerOverrun might occur, Total time : 12393.760 us (Expected < 1666.667 us) --> Read time : 208.094 us, Update time : 11566.551 us, Write time : 619.115 us + 13.65sWARNros2_control_nodeOverrun might occur, Total time : 12393.760 us (Expected < 1666.667 us) --> Read time : 208.094 us, Update time : 11566.551 us, Write time : 619.115 us[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019051 ms (missed cycles : 3). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019051 ms (missed cycles : 3).[0m ×2 + 14.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 14.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 14.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 14.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 14.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 14.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 14.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 14.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 14.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 14.66sWARNcontroller_managerOverrun might occur, Total time : 2114.928 us (Expected < 1666.667 us) --> Read time : 290.946 us, Update time : 1329.551 us, Write time : 494.431 us + 14.66sWARNros2_control_nodeOverrun might occur, Total time : 2114.928 us (Expected < 1666.667 us) --> Read time : 290.946 us, Update time : 1329.551 us, Write time : 494.431 us[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162365 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162365 ms (missed cycles : 2).[0m ×2 + 15.68sWARNcontroller_managerOverrun might occur, Total time : 3102.920 us (Expected < 1666.667 us) --> Read time : 340.018 us, Update time : 71.321 us, Write time : 2691.581 us + 15.69sWARNros2_control_nodeOverrun might occur, Total time : 3102.920 us (Expected < 1666.667 us) --> Read time : 340.018 us, Update time : 71.321 us, Write time : 2691.581 us[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882205 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882205 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun might occur, Total time : 1937.414 us (Expected < 1666.667 us) --> Read time : 209.105 us, Update time : 66.391 us, Write time : 1661.918 us + 16.90sWARNros2_control_nodeOverrun might occur, Total time : 1937.414 us (Expected < 1666.667 us) --> Read time : 209.105 us, Update time : 66.391 us, Write time : 1661.918 us[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525653886637 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525653886637[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485057813414 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485057813414[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931853630739 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931853630739[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559972682595 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002559972682595[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014926799446 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014926799446[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840517662924 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840517662924[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787552107426 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787552107426[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992175365155 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992175365155[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062985704589 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005062985704589[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356777821845 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356777821845[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259217056627 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259217056627[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390080178791 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005390080178791[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587814945428 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587814945428[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038363521229 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038363521229[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680173432975 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680173432975[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127125264762 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127125264762[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741238226513 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741238226513[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501570163179 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003501570163179[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363592204830 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363592204830[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599886903868 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599886903868[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841880275603 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841880275603[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661971504827 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661971504827[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536398328488 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536398328488[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452259476005 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452259476005[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278772759929 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004278772759929[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917750035536 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917750035536[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671450740234 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003671450740234[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118808010280 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118808010280[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003792068223441 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003792068223441[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577482610795 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577482610795[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024914243952 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024914243952[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725020716795 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003725020716795[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750092202125 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750092202125[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828971782785 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828971782785[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071208627465 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071208627465[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825697101335 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003825697101335[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647398433348 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647398433348[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819117745561 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819117745561[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825203468631 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825203468631[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257772542427 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257772542427[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867810715111 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867810715111[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611829303561 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167887 ms (missed cycles : 4). + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003611829303561[0m ×2 + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167887 ms (missed cycles : 4).[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059616161972 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059616161972[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733952631785 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733952631785[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526046947799 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526046947799[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003401287338941 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003401287338941[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228887188265 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228887188265[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852406199528 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003852406199528[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605639772114 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003605639772114[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053561962690 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004053561962690[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733608481978 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733608481978[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109266166323 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109266166323[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672160117034 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003672160117034[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914660118315 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914660118315[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076379094953 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076379094953[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473695456057 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473695456057[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921805766525 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004921805766525[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400627603974 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400627603974[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004702541108650 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004702541108650[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212626473630 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212626473630[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864464397347 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864464397347[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692684640759 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692684640759[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147330843417 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147330843417[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778980772904 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003778980772904[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542154255626 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003542154255626[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370436206415 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004370436206415[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918780602785 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918780602785[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624640416969 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624640416969[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443639827897 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443639827897[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638300307525 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638300307525[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102763832108 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102763832108[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345361280699 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004345361280699[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898003609821 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898003609821[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608830525823 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608830525823[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437234051962 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437234051962[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952223401658 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952223401658[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638021284862 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003638021284862[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445790353291 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003445790353291[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274242341925 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274242341925[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856731122399 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856731122399[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305061083014 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305061083014[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926084090553 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003926084090553[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840393448975 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840393448975[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288769780643 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288769780643[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931556328772 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931556328772[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980991473297 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980991473297[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331176328232 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331176328232[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779531734638 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779531734638[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170053825741 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004170053825741[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766447102618 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766447102618[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594936478953 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594936478953[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032451361124 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004032451361124[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784508649387 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784508649387[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870805061795 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004870805061795[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252216982598 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004252216982598[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700546150321 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700546150321[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115829238764 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115829238764[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730828998250 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003730828998250[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559255144293 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559255144293[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993098803262 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993098803262[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441406625322 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004441406625322[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971061049929 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971061049929[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660189784056 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660189784056[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762906406530 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762906406530[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164011860520 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164011860520[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765745642455 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003765745642455[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004811798705953 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004811798705953[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004850241820873 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004850241820873[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202565241697 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202565241697[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775083122588 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775083122588[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603284701052 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603284701052[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026549157502 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026549157502[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654929107818 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003654929107818[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483064325318 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483064325318[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948251659667 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003948251659667[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606729859498 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606729859498[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434794704288 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434794704288[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920621220946 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003920621220946[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368713993957 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368713993957[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873359957003 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873359957003[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560101281373 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560101281373[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388048844463 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004388048844463[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893217864297 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893217864297[0m ×2 + 18.01sWARNcontroller_managerOverrun might occur, Total time : 2256.861 us (Expected < 1666.667 us) --> Read time : 251.296 us, Update time : 408.759 us, Write time : 1596.806 us + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577754378403 + 18.02sWARNros2_control_nodeOverrun might occur, Total time : 2256.861 us (Expected < 1666.667 us) --> Read time : 251.296 us, Update time : 408.759 us, Write time : 1596.806 us[0m ×2 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577754378403[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623433531743 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623433531743[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784568868077 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784568868077[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211115736949 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211115736949[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114859554316 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114859554316[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246027472663 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246027472663[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262545058112 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262545058112[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898596479848 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898596479848[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938909807031 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938909807031[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285553746053 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285553746053[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112890775315 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112890775315[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360464893288 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360464893288[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858456454753 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858456454753[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685654567174 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004685654567174[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058308674547 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058308674547[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950001160790 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950001160790[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004988386553278 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004988386553278[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244491482408 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244491482408[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760410116650 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760410116650[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587295842593 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587295842593[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980650935326 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980650935326[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891520146204 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891520146204[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217354834074 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217354834074[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532457961525 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004532457961525[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359143224740 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359143224740[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601161300169 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601161300169[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700604472851 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700604472851[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083175693830 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004083175693830[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909410012073 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909410012073[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196249944571 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004196249944571[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025193036091 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025193036091[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156101191163 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156101191163[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336053073228 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004336053073228[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800934397257 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800934397257[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626762137294 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626762137294[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987854860551 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003987854860551[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877925108348 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004877925108348[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429174 ms (missed cycles : 4). + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008767968152 + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429174 ms (missed cycles : 4).[0m ×2 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008767968152[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237201396537 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237201396537[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772511484058 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003772511484058[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597882789837 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597882789837[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324237090184 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005324237090184[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467897485688 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467897485688[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898802874270 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898802874270[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723810092636 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723810092636[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055831352529 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055831352529[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880705467498 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880705467498[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144731794413 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144731794413[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965110223114 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965110223114[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041656665478 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041656665478[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866092910585 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866092910585[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171788564985 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171788564985[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009102465112 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005009102465112[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005250459550025 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005250459550025[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172342642502 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172342642502[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027720114092 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027720114092[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473525197551 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473525197551[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548439961735 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548439961735[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223682711363 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005223682711363[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351807939455 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351807939455[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797388536703 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797388536703[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064276297107 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064276297107[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890889374368 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890889374368[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133891561501 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004133891561501[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940002135115 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940002135115[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180959333396 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180959333396[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098169796244 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098169796244[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960386092495 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960386092495[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213538197549 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213538197549[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035804297709 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005035804297709[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239363408641 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239363408641[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061458027683 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005061458027683[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236643396468 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236643396468[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993509471887 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993509471887[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189129759564 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189129759564[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010731370599 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005010731370599[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187352624875 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187352624875[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008775178691 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008775178691[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175882066511 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175882066511[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950500423603 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950500423603[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337270054909 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337270054909[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212417556703 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005212417556703[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727426251951 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727426251951[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171427718933 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171427718933[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992271403441 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992271403441[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476935400997 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005476935400997[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477287548628 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004477287548628[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297182638028 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297182638028[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338688150380 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338688150380[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008934543496 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008934543496[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157859748180 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004157859748180[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903041147746 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903041147746[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346304652989 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346304652989[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379532691415 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379532691415[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040211095770 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040211095770[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005279970019097 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005279970019097[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331450132636 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004331450132636[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945543560418 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002945543560418[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427741030970 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427741030970[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245844382720 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245844382720[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178736655843 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178736655843[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005721526469338 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005721526469338[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006539061162797 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006539061162797[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002892367339536 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002892367339536[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709558745469 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709558745469[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818219149016 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818219149016[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488810629040 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488810629040[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859841034149 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005859841034149[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006676169237598 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006676169237598[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266587481217 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266587481217[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005590284368933 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005590284368933[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005772722383100 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005772722383100[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005901969888174 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005901969888174[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205919785611 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004205919785611[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712246126534 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712246126534[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576969556967 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576969556967[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118338456639 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118338456639[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559167382389 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559167382389[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464996491704 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004464996491704[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039283676492 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039283676492[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479844435182 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479844435182[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412036877321 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412036877321[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004927098583 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005004927098583[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445218240567 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445218240567[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391262570129 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391262570129[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992559907614 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992559907614[0m ×2 + 19.09sWARNcontroller_managerOverrun might occur, Total time : 2242.231 us (Expected < 1666.667 us) --> Read time : 261.906 us, Update time : 1471.063 us, Write time : 509.262 us + 19.10sWARNros2_control_nodeOverrun might occur, Total time : 2242.231 us (Expected < 1666.667 us) --> Read time : 261.906 us, Update time : 1471.063 us, Write time : 509.262 us[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892617506919 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892617506919[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756041826540 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756041826540[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306660980696 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306660980696[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118881313054 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006118881313054[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869039508010 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869039508010[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005312126257275 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005312126257275[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583787588249 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583787588249[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005821399779430 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005821399779430[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614182006081 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614182006081[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105818504193 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105818504193[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005544606027806 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005544606027806[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428121328111 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428121328111[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626820927237 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003626820927237[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579727493823 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004579727493823[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006076431993873 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006076431993873[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006125102952205 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006125102952205[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832969382499 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004832969382499[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642255928198 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642255928198[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756103907806 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005756103907806[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004096308740950 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004096308740950[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005590322969203 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005590322969203[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742859944888 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742859944888[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005813356023406 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005813356023406[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568225023076 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568225023076[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037142936563 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005037142936563[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005347712938769 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005347712938769[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784333999738 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784333999738[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550264818197 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550264818197[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024982298184 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005024982298184[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338932765551 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005338932765551[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775047932632 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775047932632[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544250767574 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544250767574[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349861282185 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349861282185[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005520871021814 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005520871021814[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622578161160 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005622578161160[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691607314446 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691607314446[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459214656613 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459214656613[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940591940817 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004940591940817[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005744840386121 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005744840386121[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506195114181 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506195114181[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977651603504 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004977651603504[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005781241117300 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005781241117300[0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452222 ms (missed cycles : 6). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452222 ms (missed cycles : 6).[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792525795700 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792525795700[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048230187945 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048230187945[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741841090849 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741841090849[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194778234096 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194778234096[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472932398894 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005472932398894[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629630152533 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005629630152533[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029176525305 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029176525305[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746234496971 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004746234496971[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207180765428 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207180765428[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484558812864 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484558812864[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636116533344 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636116533344[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705644184678 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705644184678[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006504670190987 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006504670190987[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222011041420 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006222011041420[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348569145739 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006348569145739[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081270803352 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081270803352[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885207554633 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885207554633[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953625944861 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953625944861[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790080556150 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790080556150[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005679645063760 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005679645063760[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805942279728 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805942279728[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687252064194 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687252064194[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873598875076 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873598875076[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054021826331 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054021826331[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825121178779 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825121178779[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007600942601662 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007600942601662[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007606788155329 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007606788155329[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007000555515698 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007000555515698[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006521703871646 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006521703871646[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006161135781290 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006161135781290[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006393469466440 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006393469466440[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045823213921 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045823213921[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805572024483 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805572024483[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037643332563 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037643332563[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791578693630 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791578693630[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631885951230 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631885951230[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863696026541 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863696026541[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005678365562278 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005678365562278[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105714137076 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105714137076[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915785158675 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915785158675[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769573951057 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005769573951057[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196792950516 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006196792950516[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926826880272 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005926826880272[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006157879677153 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006157879677153[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005880391130632 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005880391130632[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691177418326 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691177418326[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117633207870 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117633207870[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832915322940 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832915322940[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006135278928819 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006135278928819[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005912131022263 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005912131022263[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337643646238 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337643646238[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006009172997452 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006009172997452[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776128229602 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005776128229602[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617515986936 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005617515986936[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514346362897 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514346362897[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450696393451 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005450696393451[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413955239403 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413955239403[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006197470492654 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006197470492654[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881052865509 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881052865509[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005665100626225 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005665100626225[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006447585860049 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006447585860049[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006010094080402 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006010094080402[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716307767542 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005716307767542[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528733173138 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528733173138[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416276387054 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416276387054[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354530294485 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005354530294485[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325222485323 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005325222485323[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315272850484 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315272850484[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315742271793 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315742271793[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006754578999560 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006754578999560[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006213608146625 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006213608146625[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005839049426515 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005839049426515[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006616529644132 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006616529644132[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073609799104 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006073609799104[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712402774158 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712402774158[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488791226348 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488791226348[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966161703575 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966161703575[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006020877103002 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006020877103002[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751825516177 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751825516177[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565040181785 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565040181785[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005440566395089 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005440566395089[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361297716265 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361297716265[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789626975447 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789626975447[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006199098751245 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006199098751245[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793647110674 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793647110674[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528078866706 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005528078866706[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006953241167750 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006953241167750[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006247191818032 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006247191818032[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775023178457 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005775023178457[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475484179620 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475484179620[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297860249221 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297860249221[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006718875546807 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006718875546807[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083134089198 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006083134089198[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663352553218 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005663352553218[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007082073422713 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007082073422713[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280254141399 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006280254141399[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006019522231969 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006019522231969[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050615302619 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050615302619[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007973992830748 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007973992830748[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006920448251038 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006920448251038[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007333784651901 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007333784651901[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442068024907 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006442068024907[0m ×2 + 20.31sWARNcontroller_managerOverrun might occur, Total time : 6165.150 us (Expected < 1666.667 us) --> Read time : 335.657 us, Update time : 5221.539 us, Write time : 607.954 us + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005843524120284 + 20.32sWARNros2_control_nodeOverrun might occur, Total time : 6165.150 us (Expected < 1666.667 us) --> Read time : 335.657 us, Update time : 5221.539 us, Write time : 607.954 us[0m ×2 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005843524120284[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462368064257 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462368064257[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707371409700 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005707371409700[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007706182631735 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007706182631735[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006725371848049 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006725371848049[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007485143862208 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007485143862208[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006516021892581 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006516021892581[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864644537823 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005864644537823[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007266327584302 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007266327584302[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006317005777309 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006317005777309[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696894552686 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696894552686[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007507177601148 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007507177601148[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007572048469609 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007572048469609[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379742746010 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006379742746010[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286500 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286500 ms (missed cycles : 2).[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007775442984381 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007775442984381[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006657285259836 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006657285259836[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909451294737 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909451294737[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007617661538468 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007617661538468[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505072374547 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505072374547[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007257555463100 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007257555463100[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240408688369 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006240408688369[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006992193584225 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006992193584225[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053283759196 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053283759196[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005461668323001 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005461668323001[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006848534193698 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006848534193698[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972708478858 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972708478858[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613778459423 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004613778459423[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362455325532 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362455325532[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007477090228975 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007477090228975[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008759697253282 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008759697253282[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007305618195174 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007305618195174[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008051786534930 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008051786534930[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006762367198818 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006762367198818[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008059960167966 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008059960167966[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008177956494910 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008177956494910[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006766343478769 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006766343478769[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841632039609 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841632039609[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007215100340068 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007215100340068[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004716345134352 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004716345134352[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458250380899 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005458250380899[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007413516300617 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007413516300617[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008608604277291 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008608604277291[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009009045556926 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009009045556926[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007381079082287 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007381079082287[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131113834471 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131113834471[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007684511533327 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007684511533327[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009046830901692 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009046830901692[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007342027727230 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007342027727230[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037946049505 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037946049505[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007396630089969 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007396630089969[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008422270560202 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008422270560202[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006887051099390 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006887051099390[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008242361727161 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008242361727161[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711124684113 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711124684113[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007839306510049 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007839306510049[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008053569116800 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008053569116800[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557237668725 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557237668725[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007714680054405 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007714680054405[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007928459934289 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007928459934289[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006463716574792 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006463716574792[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007641890855174 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007641890855174[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008036032191359 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008036032191359[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523337338187 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006523337338187[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007250939661516 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007250939661516[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006878870659 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006006878870659[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007340812023470 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007340812023470[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008066692695558 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008066692695558[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006544145792356 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006544145792356[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007667494101333 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007667494101333[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005971554954536 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005971554954536[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007404760961296 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007404760961296[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008298515230277 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008298515230277[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008811374916671 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008821162457796 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008811374916671[0m ×2 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008821162457796[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777138146392 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004777138146392[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006743520731844 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006743520731844[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007978756444653 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007978756444653[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008695492055663 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008695492055663[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009061467711505 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009061467711505[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009776238367429 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009776238367429[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007574848278593 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007574848278593[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008184893451418 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008184893451418[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008897808890985 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008897808890985[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006923180044865 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006923180044865[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008239032668585 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008239032668585[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466724265663 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466724265663[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007412510958050 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007412510958050[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008724797928451 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008724797928451[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006784512521573 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006784512521573[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007601188028843 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007601188028843[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696925692116 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696925692116[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007066568130090 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007066568130090[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937392708202 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937392708202[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008450635091026 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008450635091026[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009751525156136 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009751525156136[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007483047387874 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007483047387874[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008026989284084 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008026989284084[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009324204477965 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009324204477965[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007121827336554 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007121827336554[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007732378859864 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007732378859864[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008124121182527 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008124121182527[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008823087682878 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008823087682878[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008787313943147 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008787313943147[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008897901119925 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008897901119925[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006771803233384 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006771803233384[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007445638345934 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007445638345934[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008731721227399 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008731721227399[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339092837551 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339092837551[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710121498247 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006710121498247[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007694376333648 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007694376333648[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273336986715 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008273336986715[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010635883109174 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010635883109174[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010027475223545 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010027475223545[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009514370038390 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009514370038390[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009716222224783 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009716222224783[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009229405046803 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009229405046803[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863716688498 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863716688498[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009426967840429 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009426967840429[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009053929092232 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009053929092232[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009424025476891 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009424025476891[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008988821273308 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008988821273308[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008669019705712 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008669019705712[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008442801282148 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008442801282148[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008288597353801 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008288597353801[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008187256127762 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008187256127762[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008865550611430 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008865550611430[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008539544119540 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008539544119540[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008317370475411 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008317370475411[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008993321422582 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008993321422582[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009309831164013 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009309831164013[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887309466421 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887309466421[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009560015077493 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009560015077493[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009562306890056 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009562306890056[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009034379013663 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009034379013663[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010271403736359 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010271403736359[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009398562152709 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009398562152709[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008780875254840 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008780875254840[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010013255717733 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010013255717733[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009118567944991 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009118567944991[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008516147286120 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008516147286120[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009743867316345 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009743867316345[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008884076371898 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008884076371898[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008321914765201 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008321914765201[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009544977103368 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009544977103368[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008725532194782 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008725532194782[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008198127879341 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008198127879341[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154491 ms (missed cycles : 5). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154491 ms (missed cycles : 5).[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416540126435 + 21.52sWARNcontroller_managerOverrun might occur, Total time : 1990.355 us (Expected < 1666.667 us) --> Read time : 296.527 us, Update time : 792.608 us, Write time : 901.220 us + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009416540126435[0m ×2 + 21.53sWARNros2_control_nodeOverrun might occur, Total time : 1990.355 us (Expected < 1666.667 us) --> Read time : 296.527 us, Update time : 792.608 us, Write time : 901.220 us[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009095947933923 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009095947933923[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009151863843253 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009151863843253[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667949509985 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667949509985[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010900871331221 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010900871331221[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009679871337101 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009679871337101[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008823433386667 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008823433386667[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011046949345337 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011046949345337[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009612307515615 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009612307515615[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008646845733221 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008646845733221[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009844988425577 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009844988425577[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008765111921642 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008765111921642[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008074315238878 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008074315238878[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007661136706908 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007661136706908[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010884629867714 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010884629867714[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011232556124871 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011232556124871[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009659725037463 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009659725037463[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008604855560633 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008604855560633[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007934594521008 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007934594521008[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010956282635664 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010956282635664[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009345498021723 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009345498021723[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008847154712939 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008847154712939[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010017517497785 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010017517497785[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012363848264733 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012363848264733[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010333650770109 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010333650770109[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011497921863149 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011497921863149[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006181142758905 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006181142758905[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006808559068077 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006808559068077[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010622390688876 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010622390688876[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012909798311171 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012909798311171[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014140692151966 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014140692151966[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014762498621379 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014762498621379[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011733137637295 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011733137637295[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012966877991948 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012966877991948[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013064901026220 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013064901026220[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010377582607554 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010377582607554[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011917853159443 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011917853159443[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009553882548252 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009553882548252[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011333673487239 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011333673487239[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011664964299266 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011664964299266[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009371371769583 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009371371769583[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011187199037784 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011187199037784[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009066538957450 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009066538957450[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011141850147541 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011141850147541[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009004467686761 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009004467686761[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011074103833530 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011074103833530[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008934346308348 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008934346308348[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010835225385468 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010835225385468[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011948730239727 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011948730239727[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009495640767791 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009495640767791[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011147868057467 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011147868057467[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008502336885869 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008502336885869[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010683295058745 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010683295058745[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012028772622160 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012028772622160[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014054912125991 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014054912125991[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010847973193941 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010847973193941[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011889999898400 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011889999898400[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012979817653329 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012979817653329[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013153557073982 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013153557073982[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010012075912149 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010012075912149[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011142730913133 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011142730913133[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012222673811668 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012222673811668[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012514352509369 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012514352509369[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009519421875448 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009519421875448[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007416147647388 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007416147647388[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011068683477596 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011068683477596[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011961128169535 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011961128169535[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012439206298829 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012439206298829[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014400171610986 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014400171610986[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013835303360331 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013835303360331[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008851360284660 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008851360284660[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012445395317755 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012445395317755[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012516515758157 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012516515758157[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013956236864823 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013956236864823[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013442938528235 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013442938528235[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014480446349106 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014480446349106[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013611223934111 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013611223934111[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012936564980108 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012936564980108[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013099781120836 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013099781120836[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012531892568830 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012531892568830[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012123223171016 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012123223171016[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012676613384657 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012676613384657[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012174556149166 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012174556149166[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011829498046029 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011829498046029[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012844715592935 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012844715592935[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012217007041689 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012217007041689[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012764242787027 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012764242787027[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012123415863068 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012123415863068[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011695193147613 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011695193147613[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012699057927060 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012699057927060[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012030719180878 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012030719180878[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011587609327737 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011587609327737[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013428725056844 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013428725056844[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012425041036528 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012425041036528[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010471324526535 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010471324526535[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354508223345 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354508223345[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018164813649534 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018164813649534[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015696085795738 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015696085795738[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013868708913224 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013868708913224[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013163526382052 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013163526382052[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013035519174587 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013035519174587[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014807362234111 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014807362234111[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013302587384627 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013302587384627[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017316656805200 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017316656805200[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014555359196656 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014555359196656[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015500525218382 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015500525218382[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013227914034357 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013227914034357[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011723594568700 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011723594568700[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013456111122123 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013456111122123[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011834691771164 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011834691771164[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010815469665082 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010815469665082[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013990407848432 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013990407848432[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012146031813032 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012146031813032[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015907654799245 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015907654799245[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015881584540979 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015881584540979[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013237934175163 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013237934175163[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817031 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817031 ms (missed cycles : 2).[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009299907223988 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009299907223988[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014563554801544 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014563554801544[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017724632282952 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017724632282952[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020791190552425 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020791190552425[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016475756019336 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016475756019336[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013472996872446 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013472996872446[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016509939169868 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016509939169868[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013324512779912 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013324512779912[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015975436953632 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015975436953632[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016232818605837 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016232818605837[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013000200962568 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013000200962568[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015599847688877 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015599847688877[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016070435357394 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016070435357394[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012795592033760 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012795592033760[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015333188433049 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015333188433049[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016193457681321 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016193457681321[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012789155633023 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012789155633023[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010639969631325 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010639969631325[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014181756112256 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014181756112256[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019512742811296 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019512742811296[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015046293704627 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015046293704627[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016529083630708 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016529083630708[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018069003908287 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018069003908287[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013788145624743 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013788145624743[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015439376271476 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015439376271476[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016961297127565 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016961297127565[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012923693222908 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012923693222908[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018172616279037 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018172616279037[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018197222267874 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018197222267874[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019683122454045 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019683122454045[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014558864777059 + 22.76sWARNcontroller_managerOverrun might occur, Total time : 1746.550 us (Expected < 1666.667 us) --> Read time : 305.507 us, Update time : 933.741 us, Write time : 507.302 us + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014558864777059[0m ×2 + 22.76sWARNros2_control_nodeOverrun might occur, Total time : 1746.550 us (Expected < 1666.667 us) --> Read time : 305.507 us, Update time : 933.741 us, Write time : 507.302 us[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015484688164304 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015484688164304[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015991239870588 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015991239870588[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016208326332404 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016208326332404[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016235990764042 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016235990764042[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016147780653123 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016147780653123[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016920612344738 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016920612344738[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016460320831562 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016460320831562[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016063445085944 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016063445085944[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016475648855090 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016475648855090[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015978835640106 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015978835640106[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015589745316082 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015589745316082[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015287810955013 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015287810955013[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016999221705396 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016999221705396[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019512651539450 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019512651539450[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017838936278203 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017838936278203[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016563825452028 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016563825452028[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019037077704064 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019037077704064[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017112359214633 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017112359214633[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015754860693557 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015754860693557[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017071674563147 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017071674563147[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015624765249696 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015624765249696[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014656680711925 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014656680711925[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017052569006526 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017052569006526[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015475814117927 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015475814117927[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014429312462843 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014429312462843[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012528043545353 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012528043545353[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020124290228049 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020124290228049[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027970412336185 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027970412336185[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022589215862004 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022589215862004[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018680938234420 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018680938234420[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020929809161765 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020929809161765[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017314967517902 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017314967517902[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014887832193661 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014887832193661[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019731296702485 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019731296702485[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016259521782658 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016259521782658[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020242471696627 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020242471696627[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016335506541415 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016335506541415[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018457490486669 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018457490486669[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015065328955747 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015065328955747[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018991812305583 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018991812305583[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020114878186430 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020114878186430[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015975594088403 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015975594088403[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024388078965075 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024388078965075[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016554917062937 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016554917062937[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019424544151823 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019424544151823[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020981302133539 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020981302133539[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022909290675719 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022909290675719[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017230320809273 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017230320809273[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020756501265931 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020756501265931[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024083742474886 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024083742474886[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024954602587394 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024954602587394[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018041109295827 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018041109295827[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018683643630046 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018683643630046[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020453316488093 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020453316488093[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019977220440534 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019977220440534[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019453229664244 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019453229664244[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018933477670325 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018933477670325[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019850564712977 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019850564712977[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018990469520575 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018990469520575[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018287363963307 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018287363963307[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017718206592698 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017718206592698[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017256739772812 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017256739772812[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016877751494030 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016877751494030[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022268121135283 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022268121135283[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019759813775021 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019759813775021[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017959502376604 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017959502376604[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020776513160283 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020776513160283[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018378785177937 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018378785177937[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016732213802756 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016732213802756[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019459739625275 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019459739625275[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017259536416266 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017259536416266[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015787149469639 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015787149469639[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020666999454822 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020666999454822[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017735740759359 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017735740759359[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023228668199797 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023228668199797[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018208657190670 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018208657190670[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026592617350595 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026592617350595[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020820566392125 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020820566392125[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016888604264685 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016888604264685[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021127586190291 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021127586190291[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023423648823913 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023423648823913[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018175399479414 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018175399479414[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021221771194934 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021221771194934[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022410591774384 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022410591774384[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017151610986929 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017151610986929[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019974999376731 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019974999376731[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025461320168860 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025461320168860[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024564153146912 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024564153146912[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025622697025357 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025622697025357[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018404989015053 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018404989015053[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019218772503536 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019218772503536[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022675169934672 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022675169934672[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021483203155296 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021483203155296[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576613 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576613 ms (missed cycles : 2).[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020354830190650 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020354830190650[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019334630138020 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019334630138020[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018436472742182 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018436472742182[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017656073472676 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017656073472676[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025633561412484 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025633561412484[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021438628013224 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021438628013224[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018415174036771 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018415174036771[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021133149554021 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021133149554021[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017889552274129 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017889552274129[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023223900590040 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023223900590040[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025733575782838 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025733575782838[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020072473267708 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020072473267708[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023175217337178 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023175217337178[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023852503788598 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023852503788598[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018163459407972 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018163459407972[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020839323364810 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020839323364810[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024791993736861 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024791993736861[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018116112554897 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018116112554897[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019624324187991 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019624324187991[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026309968201148 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026309968201148[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023865727784505 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023865727784505[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021630440086297 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021630440086297[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023368044888770 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023368044888770[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020660149362705 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020660149362705[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027172310220699 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027172310220699[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020284575374285 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020284575374285[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024189968135903 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024189968135903[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025340867944561 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025340867944561[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032715504096975 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032715504096975[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028733621191344 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028733621191344[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006755215163724 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006755215163724[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012067575946771 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012067575946771[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014850579898383 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014850579898383[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019869781510519 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019869781510519[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018643822550042 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018643822550042[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023132430830676 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023132430830676[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019499712712036 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019499712712036[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016425184955418 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016425184955418[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020139348362730 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020139348362730[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015998651689390 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015998651689390[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012919851666162 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012919851666162[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013827641321052 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013827641321052[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011219788521978 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011219788521978[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009408298803139 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009408298803139[0m ×2 + 23.92sWARNcontroller_managerOverrun might occur, Total time : 3141.681 us (Expected < 1666.667 us) --> Read time : 221.895 us, Update time : 72.821 us, Write time : 2846.965 us + 23.93sWARNros2_control_nodeOverrun might occur, Total time : 3141.681 us (Expected < 1666.667 us) --> Read time : 221.895 us, Update time : 72.821 us, Write time : 2846.965 us[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010196945402645 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010196945402645[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158922086390 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158922086390[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797752918726 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004797752918726[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007144362151319 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007144362151319[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011307854220233 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011307854220233[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009952204180017 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009952204180017[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010534497364336 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010534497364336[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009141241353082 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009141241353082[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008033675432775 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008033675432775[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008562085429808 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008562085429808[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007497175063305 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007497175063305[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006717291258572 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006717291258572[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007603792374551 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007603792374551[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682832485125 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006682832485125[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045350444148 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006045350444148[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006480775242045 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006480775242045[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868301234838 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868301234838[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462461217557 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005462461217557[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190481950392 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190481950392[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013210055134 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013210055134[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896265896690 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896265896690[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812367359740 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004812367359740[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051803445521 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006051803445521[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005496433438746 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005496433438746[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105561673317 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105561673317[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006268907981775 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006268907981775[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531940549605 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005531940549605[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026778695213 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026778695213[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923783246045 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923783246045[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494677532771 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494677532771[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004998314997205 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004998314997205[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006254064893536 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006254064893536[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006539078775692 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006539078775692[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282962233793 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005282962233793[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205542893308 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205542893308[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006350649911012 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006350649911012[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323086738609 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323086738609[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006036100894936 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006036100894936[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029535079898 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029535079898[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489232886523 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005489232886523[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641286752996 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004641286752996[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005398792058520 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005398792058520[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545122659366 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545122659366[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963987733813 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003963987733813[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891127985245 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891127985245[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293041509692 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006293041509692[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095920871916 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095920871916[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425699293326 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425699293326[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137132119030 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006137132119030[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879327389381 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879327389381[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122643707336 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005122643707336[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222017153647 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005222017153647[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885151556706 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005885151556706[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630821433769 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005630821433769[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639447848772 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005639447848772[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392374278628 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005392374278628[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488572530250 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005488572530250[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396228792228 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005396228792228[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695883882139 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695883882139[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231885987046 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231885987046[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004861821220282 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004861821220282[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005820875344104 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005820875344104[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150202842663 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005150202842663[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654212900684 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004654212900684[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688372652591 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688372652591[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727546423337 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005727546423337[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900309387845 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900309387845[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314877843697 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004314877843697[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154593912565 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154593912565[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383266260217 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383266260217[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111811117158 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005111811117158[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421707910982 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421707910982[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420060499285 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420060499285[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765847489109 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765847489109[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385260338567 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896651 ms (missed cycles : 3). + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385260338567[0m ×2 + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896651 ms (missed cycles : 3).[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811018597801 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811018597801[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138312748263 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003138312748263[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243401706714 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243401706714[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813467503586 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813467503586[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708263109696 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708263109696[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005927401277185 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005927401277185[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944087815361 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944087815361[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190511386576 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190511386576[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536888461741 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536888461741[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043397084840 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043397084840[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162664117305 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162664117305[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052118091797 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052118091797[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805065192523 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805065192523[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473220157295 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473220157295[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858628943473 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858628943473[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327562540270 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003327562540270[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865636132803 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865636132803[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657166368151 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003657166368151[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905376028231 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905376028231[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348424757919 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348424757919[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915617403871 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001915617403871[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592655441817 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592655441817[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336587700201 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336587700201[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647640506891 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647640506891[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299542032714 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299542032714[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001036582980979 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001036582980979[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840666739513 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840666739513[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000976179692785 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000976179692785[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758715819350 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000758715819350[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588197921063 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588197921063[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000644653758600 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000644653758600[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000490307264275 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000490307264275[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369480343844 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369480343844[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000370956453196 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000370956453196[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000196457505225 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000196457505225[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000148312372824 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000148312372824[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109774114062 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109774114062[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055756243146 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055756243146[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026301794178 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026301794178[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035839540403 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035839540403[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036245636602 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036245636602[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048377509518 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048377509518[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111160410653 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111160410653[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092710521264 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092710521264[0m ×2 + 24.93sWARNcontroller_managerOverrun might occur, Total time : 4772.139 us (Expected < 1666.667 us) --> Read time : 859.780 us, Update time : 146.193 us, Write time : 3766.166 us + 24.93sWARNros2_control_nodeOverrun might occur, Total time : 4772.139 us (Expected < 1666.667 us) --> Read time : 859.780 us, Update time : 146.193 us, Write time : 3766.166 us[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085523808202 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085523808202[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042430132214 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042430132214[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070429137790 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000070429137790[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137741143808 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137741143808[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124336067082 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124336067082[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116622037673 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116622037673[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179037728464 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179037728464[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145857728718 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145857728718[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077922522770 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077922522770[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136829375426 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136829375426[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119234887683 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119234887683[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109188811476 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109188811476[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101302380630 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101302380630[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096578503366 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096578503366[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092549015452 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092549015452[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137728768126 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137728768126[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114187457082 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114187457082[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098626132910 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098626132910[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087524254796 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087524254796[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124795679362 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124795679362[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100598844145 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100598844145[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084735035826 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000084735035826[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116590326518 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116590326518[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091736175129 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091736175129[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075394061574 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075394061574[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102817490407 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102817490407[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079921460098 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079921460098[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104591140447 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000104591140447[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078777345658 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078777345658[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062205617847 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062205617847[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083297101804 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083297101804[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063295434845 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063295434845[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023389364445 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023389364445[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029804056727 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029804056727[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047149123124 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047149123124[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041790111283 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041790111283[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037394553700 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037394553700[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018115183015 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018115183015[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022828644135 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022828644135[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024795967463 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024795967463[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025065371552 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025065371552[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035545229794 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035545229794[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030141465036 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030141465036[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025898620389 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025898620389[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034508080620 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034508080620[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027524346780 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027524346780[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022574448319 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022574448319[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029820942565 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029820942565[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023253373655 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023253373655[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018791401525 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018791401525[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024923398240 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024923398240[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019285744159 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019285744159[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007351383221 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007351383221[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008940627831 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008940627831[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009721962819 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009721962819[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014294404873 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014294404873[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012377271819 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012377271819[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010832032109 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010832032109[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014548725383 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014548725383[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011702940511 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011702940511[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009672540363 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009672540363[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012761930152 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012761930152[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009986225725 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009986225725[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008084748369 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008084748369[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010676135777 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010676135777[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008264401036 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008264401036[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006653032136 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006653032136[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008826265790 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008826265790[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006810993282 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006810993282[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003603639379 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003603639379[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003619623909 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003619623909[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005343443815 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005343443815[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004509908254 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004509908254[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003910444062 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003910444062[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005304620627 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005304620627[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004245008954 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004245008954[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003509896443 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003509896443[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004660221556 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004660221556[0m ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562135 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562135 ms (missed cycles : 2).[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003643701601 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003643701601[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002955193033 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002955193033[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002499347498 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002499347498[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002190899881 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002190899881[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001978158544 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001978158544[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001820923050 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001820923050[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002557735285 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002557735285[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001413907516 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001413907516[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001384464138 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001384464138[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001992091747 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001992091747[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001669988418 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001669988418[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001434789070 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001434789070[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001926034373 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001926034373[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001534828640 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001534828640[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001261393559 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001261393559[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001075193780 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001075193780[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000945292730 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000945292730[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000853631394 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000853631394[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000784810141 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000784810141[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000730438675 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000730438675[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000684113303 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000684113303[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960336795 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960336795[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000794374320 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000794374320[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001034973135 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001034973135[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000809700740 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000809700740[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000652857486 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000652857486[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000547509195 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000547509195[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000736644064 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000736644064[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000580536304 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000580536304[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000474673251 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000474673251[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000632243639 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000632243639[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000320633727 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000320633727[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215137596 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215137596[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000349428637 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000349428637[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000315259975 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000315259975[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286033958 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286033958[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261958420 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000261958420[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360629599 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000360629599[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295491011 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000295491011[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000248196645 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000248196645[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000329433656 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000329433656[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000259920382 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000259920382[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000211956892 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000211956892[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000179574449 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000179574449[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000157398009 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000157398009[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000217116309 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000217116309[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000174836130 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000174836130[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000145811936 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000145811936[0m ×2 + 25.99sWARNcontroller_managerOverrun might occur, Total time : 6064.618 us (Expected < 1666.667 us) --> Read time : 360.558 us, Update time : 5122.167 us, Write time : 581.893 us + 25.99sWARNros2_control_nodeOverrun might occur, Total time : 6064.618 us (Expected < 1666.667 us) --> Read time : 360.558 us, Update time : 5122.167 us, Write time : 581.893 us[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000195249848 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000195249848[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000750883124 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000750883124[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573872734 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573872734[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000549686247 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000549686247[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000637726982 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000637726982[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000593291707 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000593291707[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000553051921 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000553051921[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000516150491 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000516150491[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000397842285 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000397842285[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000381776671 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000381776671[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365330778 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365330778[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000348837502 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000348837502[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000402699144 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000402699144[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000373747955 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000373747955[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000347402796 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000347402796[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000392902673 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000392902673[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000358121331 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000358121331[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000327300232 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000327300232[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365499239 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365499239[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000269703703 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000269703703[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000248626624 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000248626624[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000279920627 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000279920627[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000253573813 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000253573813[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000230477197 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000230477197[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210111817 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210111817[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000234640574 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000234640574[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210896233 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210896233[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000190275442 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000190275442[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210749922 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000210749922[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000187944709 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000187944709[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206221403 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206221403[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000182273938 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000182273938[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000131855436 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000131855436[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000119666953 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000119666953[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351304 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351304 ms (missed cycles : 2).[0m ×2 + 27.03sWARNcontroller_managerOverrun might occur, Total time : 1821.042 us (Expected < 1666.667 us) --> Read time : 260.106 us, Update time : 115.653 us, Write time : 1445.283 us + 27.03sWARNros2_control_nodeOverrun might occur, Total time : 1821.042 us (Expected < 1666.667 us) --> Read time : 260.106 us, Update time : 115.653 us, Write time : 1445.283 us[0m ×2 + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088266 ms (missed cycles : 3). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088266 ms (missed cycles : 3).[0m ×2 + 28.08sWARNcontroller_managerOverrun might occur, Total time : 2177.080 us (Expected < 1666.667 us) --> Read time : 260.846 us, Update time : 437.790 us, Write time : 1478.444 us + 28.09sWARNros2_control_nodeOverrun might occur, Total time : 2177.080 us (Expected < 1666.667 us) --> Read time : 260.846 us, Update time : 437.790 us, Write time : 1478.444 us[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474633 ms (missed cycles : 3). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474633 ms (missed cycles : 3).[0m ×2 + 29.14sWARNcontroller_managerOverrun might occur, Total time : 1676.968 us (Expected < 1666.667 us) --> Read time : 248.246 us, Update time : 935.701 us, Write time : 493.021 us + 29.14sWARNros2_control_nodeOverrun might occur, Total time : 1676.968 us (Expected < 1666.667 us) --> Read time : 248.246 us, Update time : 935.701 us, Write time : 493.021 us[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207325 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207325 ms (missed cycles : 3).[0m ×2 + 30.16sWARNcontroller_managerOverrun might occur, Total time : 1699.269 us (Expected < 1666.667 us) --> Read time : 813.679 us, Update time : 224.725 us, Write time : 660.865 us + 30.16sWARNros2_control_nodeOverrun might occur, Total time : 1699.269 us (Expected < 1666.667 us) --> Read time : 813.679 us, Update time : 224.725 us, Write time : 660.865 us[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884028 ms (missed cycles : 2). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884028 ms (missed cycles : 2).[0m ×2 + 31.28sWARNcontroller_managerOverrun might occur, Total time : 7090.911 us (Expected < 1666.667 us) --> Read time : 6333.024 us, Update time : 123.223 us, Write time : 634.664 us + 31.28sWARNros2_control_nodeOverrun might occur, Total time : 7090.911 us (Expected < 1666.667 us) --> Read time : 6333.024 us, Update time : 123.223 us, Write time : 634.664 us[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864652 ms (missed cycles : 2). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864652 ms (missed cycles : 2).[0m ×2 + 32.31sWARNcontroller_managerOverrun might occur, Total time : 1819.281 us (Expected < 1666.667 us) --> Read time : 238.376 us, Update time : 1015.263 us, Write time : 565.642 us + 32.31sWARNros2_control_nodeOverrun might occur, Total time : 1819.281 us (Expected < 1666.667 us) --> Read time : 238.376 us, Update time : 1015.263 us, Write time : 565.642 us[0m ×2 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697167 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697167 ms (missed cycles : 2).[0m ×2 + 33.36sWARNcontroller_managerOverrun might occur, Total time : 4534.142 us (Expected < 1666.667 us) --> Read time : 161.544 us, Update time : 3573.420 us, Write time : 799.178 us + 33.37sWARNros2_control_nodeOverrun might occur, Total time : 4534.142 us (Expected < 1666.667 us) --> Read time : 161.544 us, Update time : 3573.420 us, Write time : 799.178 us[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684968 ms (missed cycles : 2). + 33.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684968 ms (missed cycles : 2).[0m ×2 + 34.48sWARNcontroller_managerOverrun might occur, Total time : 1848.612 us (Expected < 1666.667 us) --> Read time : 820.389 us, Update time : 128.013 us, Write time : 900.210 us + 34.48sWARNros2_control_nodeOverrun might occur, Total time : 1848.612 us (Expected < 1666.667 us) --> Read time : 820.389 us, Update time : 128.013 us, Write time : 900.210 us[0m ×2 + 34.60sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781205685.18806744 seconds ×3 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211713 ms (missed cycles : 2). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211713 ms (missed cycles : 2).[0m ×2 + 35.29sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781205685.87818837 seconds. ×3 + 35.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 35.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 35.48sINFOobjective_server_nodeFound path in 5 iterations (0.00635189 s). ×2 + 35.49sWARNcontroller_managerOverrun might occur, Total time : 2113.778 us (Expected < 1666.667 us) --> Read time : 875.640 us, Update time : 310.707 us, Write time : 927.431 us + 35.49sWARNros2_control_nodeOverrun might occur, Total time : 2113.778 us (Expected < 1666.667 us) --> Read time : 875.640 us, Update time : 310.707 us, Write time : 927.431 us[0m ×2 + 35.53sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 35.55sINFOros2_control_node[2026-06-11 19:21:26.144] [info] Received new action goal ×2 + 35.55sINFOros2_control_node[2026-06-11 19:21:26.144] [info] Accepted new action goal ×2 + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953690 ms (missed cycles : 4). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953690 ms (missed cycles : 4).[0m ×2 + 36.73sWARNcontroller_managerOverrun might occur, Total time : 4423.470 us (Expected < 1666.667 us) --> Read time : 217.855 us, Update time : 3528.930 us, Write time : 676.685 us + 36.73sWARNros2_control_nodeOverrun might occur, Total time : 4423.470 us (Expected < 1666.667 us) --> Read time : 217.855 us, Update time : 3528.930 us, Write time : 676.685 us[0m ×2 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662633 ms (missed cycles : 3). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662633 ms (missed cycles : 3).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390815 ms (missed cycles : 6). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390815 ms (missed cycles : 6).[0m ×2 + 37.93sWARNcontroller_managerOverrun might occur, Total time : 1937.293 us (Expected < 1666.667 us) --> Read time : 202.875 us, Update time : 451.810 us, Write time : 1282.608 us
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	30.0s	207 warnings · 2746 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 7090.911 us (Expected < 1666.667 us) --> Read time : 6333.024 us, Update time : 123.223 us, Write time : 634.664 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 7090.911 us (Expected < 1666.667 us) --> Read time : 6333.024 us, Update time : 123.223 us, Write time : 634.664 us[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864652 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864652 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1819.281 us (Expected < 1666.667 us) --> Read time : 238.376 us, Update time : 1015.263 us, Write time : 565.642 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 1819.281 us (Expected < 1666.667 us) --> Read time : 238.376 us, Update time : 1015.263 us, Write time : 565.642 us[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697167 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697167 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 4534.142 us (Expected < 1666.667 us) --> Read time : 161.544 us, Update time : 3573.420 us, Write time : 799.178 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 4534.142 us (Expected < 1666.667 us) --> Read time : 161.544 us, Update time : 3573.420 us, Write time : 799.178 us[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684968 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684968 ms (missed cycles : 2).[0m ×2 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 1848.612 us (Expected < 1666.667 us) --> Read time : 820.389 us, Update time : 128.013 us, Write time : 900.210 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 1848.612 us (Expected < 1666.667 us) --> Read time : 820.389 us, Update time : 128.013 us, Write time : 900.210 us[0m ×2 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781205685.18806744 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211713 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211713 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781205685.87818837 seconds. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 5 iterations (0.00635189 s). ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2113.778 us (Expected < 1666.667 us) --> Read time : 875.640 us, Update time : 310.707 us, Write time : 927.431 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2113.778 us (Expected < 1666.667 us) --> Read time : 875.640 us, Update time : 310.707 us, Write time : 927.431 us[0m ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.62sINFOros2_control_node[2026-06-11 19:21:26.144] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-06-11 19:21:26.144] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953690 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953690 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4423.470 us (Expected < 1666.667 us) --> Read time : 217.855 us, Update time : 3528.930 us, Write time : 676.685 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4423.470 us (Expected < 1666.667 us) --> Read time : 217.855 us, Update time : 3528.930 us, Write time : 676.685 us[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662633 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662633 ms (missed cycles : 3).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390815 ms (missed cycles : 6). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390815 ms (missed cycles : 6).[0m ×2 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 1937.293 us (Expected < 1666.667 us) --> Read time : 202.875 us, Update time : 451.810 us, Write time : 1282.608 us + 7.00sWARNros2_control_nodeOverrun might occur, Total time : 1937.293 us (Expected < 1666.667 us) --> Read time : 202.875 us, Update time : 451.810 us, Write time : 1282.608 us[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182945 ms (missed cycles : 4). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.182945 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun might occur, Total time : 3972.489 us (Expected < 1666.667 us) --> Read time : 620.704 us, Update time : 93.422 us, Write time : 3258.363 us + 8.40sWARNros2_control_nodeOverrun might occur, Total time : 3972.489 us (Expected < 1666.667 us) --> Read time : 620.704 us, Update time : 93.422 us, Write time : 3258.363 us[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850725 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850725 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 1973.584 us (Expected < 1666.667 us) --> Read time : 246.575 us, Update time : 78.902 us, Write time : 1648.107 us + 9.86sWARNros2_control_nodeOverrun might occur, Total time : 1973.584 us (Expected < 1666.667 us) --> Read time : 246.575 us, Update time : 78.902 us, Write time : 1648.107 us[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868446 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868446 ms (missed cycles : 2).[0m ×2 + 10.99sWARNcontroller_managerOverrun might occur, Total time : 1768.070 us (Expected < 1666.667 us) --> Read time : 503.991 us, Update time : 82.482 us, Write time : 1181.597 us + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983270 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun might occur, Total time : 1768.070 us (Expected < 1666.667 us) --> Read time : 503.991 us, Update time : 82.482 us, Write time : 1181.597 us[0m ×2 + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983270 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun might occur, Total time : 1908.743 us (Expected < 1666.667 us) --> Read time : 606.584 us, Update time : 144.853 us, Write time : 1157.306 us + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320321 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun might occur, Total time : 1908.743 us (Expected < 1666.667 us) --> Read time : 606.584 us, Update time : 144.853 us, Write time : 1157.306 us[0m ×2 + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320321 ms (missed cycles : 2).[0m ×2 + 12.75sINFOobjective_server_node[0;m[0;93m2026-06-11 19:21:34.271759281 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.75sINFOobjective_server_node[0;93m2026-06-11 19:21:34.271795202 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667577 ms (missed cycles : 8). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.667577 ms (missed cycles : 8).[0m ×2 + 13.07sWARNcontroller_managerOverrun might occur, Total time : 2486.676 us (Expected < 1666.667 us) --> Read time : 277.056 us, Update time : 608.744 us, Write time : 1600.876 us + 13.08sWARNros2_control_nodeOverrun might occur, Total time : 2486.676 us (Expected < 1666.667 us) --> Read time : 277.056 us, Update time : 608.744 us, Write time : 1600.876 us[0m ×2 + 13.26sINFOobjective_server_node[0;93m2026-06-11 19:21:34.782738802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.26sINFOobjective_server_node[0;93m2026-06-11 19:21:34.782796013 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.39sINFOobjective_server_node[0;93m2026-06-11 19:21:34.916854080 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.39sINFOobjective_server_node[0;93m2026-06-11 19:21:34.918965447 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.39sINFOobjective_server_node[0;93m2026-06-11 19:21:34.918985668 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.72sINFOobjective_server_node[0;93m2026-06-11 19:21:35.241736628 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.73sINFOobjective_server_node[0;93m2026-06-11 19:21:35.259656839 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.73sINFOobjective_server_node[0;93m2026-06-11 19:21:35.259705940 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.09sINFOros2_control_nodeMuJoCo sim: 1.56% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.377909 ms (missed cycles : 7). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.377909 ms (missed cycles : 7).[0m ×2 + 14.20sWARNcontroller_managerOverrun might occur, Total time : 3283.783 us (Expected < 1666.667 us) --> Read time : 240.435 us, Update time : 58.902 us, Write time : 2984.446 us + 14.20sWARNros2_control_nodeOverrun might occur, Total time : 3283.783 us (Expected < 1666.667 us) --> Read time : 240.435 us, Update time : 58.902 us, Write time : 2984.446 us[0m ×2 + 14.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807749 ms (missed cycles : 6). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.807749 ms (missed cycles : 6).[0m ×2 + 15.29sWARNcontroller_managerOverrun might occur, Total time : 12648.005 us (Expected < 1666.667 us) --> Read time : 230.455 us, Update time : 11863.408 us, Write time : 554.142 us + 15.29sWARNros2_control_nodeOverrun might occur, Total time : 12648.005 us (Expected < 1666.667 us) --> Read time : 230.455 us, Update time : 11863.408 us, Write time : 554.142 us[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133155 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133155 ms (missed cycles : 3).[0m ×2 + 16.30sWARNcontroller_managerOverrun might occur, Total time : 1667.037 us (Expected < 1666.667 us) --> Read time : 209.184 us, Update time : 437.960 us, Write time : 1019.893 us + 16.31sWARNros2_control_nodeOverrun might occur, Total time : 1667.037 us (Expected < 1666.667 us) --> Read time : 209.184 us, Update time : 437.960 us, Write time : 1019.893 us[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201042 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201042 ms (missed cycles : 2).[0m ×2 + 17.48sWARNcontroller_managerOverrun might occur, Total time : 5088.374 us (Expected < 1666.667 us) --> Read time : 270.816 us, Update time : 4005.449 us, Write time : 812.109 us + 17.48sWARNros2_control_nodeOverrun might occur, Total time : 5088.374 us (Expected < 1666.667 us) --> Read time : 270.816 us, Update time : 4005.449 us, Write time : 812.109 us[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670761 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670761 ms (missed cycles : 2).[0m ×2 + 18.64sWARNcontroller_managerOverrun might occur, Total time : 4591.404 us (Expected < 1666.667 us) --> Read time : 236.055 us, Update time : 78.962 us, Write time : 4276.387 us + 18.64sWARNros2_control_nodeOverrun might occur, Total time : 4591.404 us (Expected < 1666.667 us) --> Read time : 236.055 us, Update time : 78.962 us, Write time : 4276.387 us[0m ×2 + 18.91sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913201 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913201 ms (missed cycles : 2).[0m ×2 + 19.25sINFOobjective_server_nodeFound path in 4 iterations (0.00267336 s). ×2 + 19.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.34sINFOobjective_server_nodeFound path in 12 iterations (0.00387832 s). ×2 + 19.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.43sINFOobjective_server_nodeFound path in 1 iterations (0.00274786 s). ×2 + 19.47sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 19.49sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 19.52sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.53sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 19.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.58sINFOobjective_server_nodeFound path in 12 iterations (0.00608759 s). ×2 + 19.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 19.66sINFOobjective_server_nodeFound path in 1 iterations (0.00380319 s). ×2 + 19.70sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 19.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.77sINFOobjective_server_nodeFound path in 4 iterations (0.00545309 s). ×2 + 19.79sWARNcontroller_managerOverrun might occur, Total time : 12550.752 us (Expected < 1666.667 us) --> Read time : 258.016 us, Update time : 11823.875 us, Write time : 468.861 us + 19.79sWARNros2_control_nodeOverrun might occur, Total time : 12550.752 us (Expected < 1666.667 us) --> Read time : 258.016 us, Update time : 11823.875 us, Write time : 468.861 us[0m ×2 + 19.85sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.87sINFOobjective_server_nodeFound path in 4 iterations (0.00253476 s). ×2 + 19.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.98sINFOobjective_server_nodeFound path in 1 iterations (0.00444936 s). ×2 + 20.03sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.05sINFOobjective_server_nodeFound path in 1 iterations (0.00252042 s). ×2 + 20.12sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 20.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.19sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 20.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071852 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071852 ms (missed cycles : 3).[0m ×2 + 20.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.37sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 20.45sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.49sINFOros2_control_node[2026-06-11 19:21:42.017] [info] Received new action goal ×2 + 20.49sINFOros2_control_node[2026-06-11 19:21:42.017] [info] Accepted new action goal ×2 + 20.84sWARNcontroller_managerOverrun might occur, Total time : 4348.648 us (Expected < 1666.667 us) --> Read time : 255.776 us, Update time : 3512.039 us, Write time : 580.833 us + 20.84sWARNros2_control_nodeOverrun might occur, Total time : 4348.648 us (Expected < 1666.667 us) --> Read time : 255.776 us, Update time : 3512.039 us, Write time : 580.833 us[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241627 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241627 ms (missed cycles : 3).[0m ×2 + 21.92sWARNcontroller_managerOverrun might occur, Total time : 10740.139 us (Expected < 1666.667 us) --> Read time : 619.973 us, Update time : 9639.175 us, Write time : 480.991 us + 21.92sWARNros2_control_nodeOverrun might occur, Total time : 10740.139 us (Expected < 1666.667 us) --> Read time : 619.973 us, Update time : 9639.175 us, Write time : 480.991 us[0m ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361179 ms (missed cycles : 4). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361179 ms (missed cycles : 4).[0m ×2 + 23.32sWARNcontroller_managerOverrun might occur, Total time : 7085.970 us (Expected < 1666.667 us) --> Read time : 304.067 us, Update time : 6284.352 us, Write time : 497.551 us + 23.32sWARNros2_control_nodeOverrun might occur, Total time : 7085.970 us (Expected < 1666.667 us) --> Read time : 304.067 us, Update time : 6284.352 us, Write time : 497.551 us[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988547 ms (missed cycles : 5). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988547 ms (missed cycles : 5).[0m ×2 + 24.41sWARNcontroller_managerOverrun might occur, Total time : 2008.535 us (Expected < 1666.667 us) --> Read time : 219.005 us, Update time : 80.702 us, Write time : 1708.828 us + 24.41sWARNros2_control_nodeOverrun might occur, Total time : 2008.535 us (Expected < 1666.667 us) --> Read time : 219.005 us, Update time : 80.702 us, Write time : 1708.828 us[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082090 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082090 ms (missed cycles : 2).[0m ×2 + 25.49sINFOros2_control_node[2026-06-11 19:21:47.019] [info] Received new action goal ×2 + 25.50sINFOros2_control_node[2026-06-11 19:21:47.019] [info] Accepted new action goal ×2 + 25.53sWARNcontroller_managerOverrun might occur, Total time : 1947.333 us (Expected < 1666.667 us) --> Read time : 242.195 us, Update time : 87.202 us, Write time : 1617.936 us + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217854 ms (missed cycles : 2). + 25.54sWARNros2_control_nodeOverrun might occur, Total time : 1947.333 us (Expected < 1666.667 us) --> Read time : 242.195 us, Update time : 87.202 us, Write time : 1617.936 us[0m ×2 + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217854 ms (missed cycles : 2).[0m ×2 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612676 ms (missed cycles : 3). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612676 ms (missed cycles : 3).[0m ×2 + 26.77sWARNcontroller_managerOverrun might occur, Total time : 2495.966 us (Expected < 1666.667 us) --> Read time : 387.069 us, Update time : 74.591 us, Write time : 2034.306 us + 26.78sWARNros2_control_nodeOverrun might occur, Total time : 2495.966 us (Expected < 1666.667 us) --> Read time : 387.069 us, Update time : 74.591 us, Write time : 2034.306 us[0m ×2 + 27.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.20sINFOros2_control_node[2026-06-11 19:21:48.722] [info] Received new action goal ×2 + 27.20sINFOros2_control_node[2026-06-11 19:21:48.722] [info] Accepted new action goal ×2 + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.298937 ms (missed cycles : 7). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.298937 ms (missed cycles : 7).[0m ×2 + 27.81sWARNcontroller_managerOverrun might occur, Total time : 2035.195 us (Expected < 1666.667 us) --> Read time : 333.727 us, Update time : 1190.777 us, Write time : 510.691 us + 27.81sWARNros2_control_nodeOverrun might occur, Total time : 2035.195 us (Expected < 1666.667 us) --> Read time : 333.727 us, Update time : 1190.777 us, Write time : 510.691 us[0m ×2 + 28.41sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.45sINFOros2_control_node[2026-06-11 19:21:49.973] [info] Received new action goal ×2 + 28.45sINFOros2_control_node[2026-06-11 19:21:49.973] [info] Accepted new action goal ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405465 ms (missed cycles : 2). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405465 ms (missed cycles : 2).[0m ×2 + 28.87sWARNcontroller_managerOverrun might occur, Total time : 1857.882 us (Expected < 1666.667 us) --> Read time : 289.336 us, Update time : 84.412 us, Write time : 1484.134 us + 28.87sWARNros2_control_nodeOverrun might occur, Total time : 1857.882 us (Expected < 1666.667 us) --> Read time : 289.336 us, Update time : 84.412 us, Write time : 1484.134 us[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833347 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833347 ms (missed cycles : 2).[0m ×2 + 30.02sWARNcontroller_managerOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us + 30.02sWARNros2_control_nodeOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us[0m ×2 + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5).[0m ×2 + 31.27sWARNcontroller_managerOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us + 31.27sWARNros2_control_nodeOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8).[0m ×2 + 32.35sWARNcontroller_managerOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us + 32.35sWARNros2_control_nodeOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us[0m ×2 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5).[0m ×2 + 33.58sWARNcontroller_managerOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us + 33.58sWARNros2_control_nodeOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us[0m ×2 + 33.66sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781205715.18838882 seconds ×3 + 33.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 33.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 34.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781205715.91696882 seconds. ×3 + 34.60sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 34.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.62sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Received new action goal ×2 + 34.62sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Accepted new action goal ×2 + 34.69sWARNcontroller_managerOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us + 34.69sWARNros2_control_nodeOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4).[0m ×2 + 35.70sWARNcontroller_managerOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us + 35.70sWARNros2_control_nodeOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7).[0m ×2 + 36.77sWARNcontroller_managerOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us + 36.77sWARNros2_control_nodeOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4).[0m ×2
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	22.2s	5829 errors · 165 warnings · 7745 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2238 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790032271898 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4476 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790032271898[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802103767035 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802103767035[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851286071416 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001851286071416[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271334486282 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271334486282[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692783220765 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692783220765[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935947143782 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935947143782[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401550179708 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002401550179708[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823457150842 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823457150842[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305950339488 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002305950339488[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631228575635 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631228575635[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172833472844 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002172833472844[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596700772448 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596700772448[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145194958986 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002145194958986[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527365946098 ×2 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002527365946098[0m ×4 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109462350103 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002109462350103[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515930464090 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002515930464090[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640828141102 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002640828141102[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188941982632 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188941982632[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572286549751 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572286549751[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002149228525472 ×2 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002149228525472[0m ×4 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352243790240 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352243790240[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193700773417 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193700773417[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624266274584 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676608 ms (missed cycles : 2). + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002624266274584[0m ×2 + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676608 ms (missed cycles : 2).[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811626758754 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811626758754[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643693357793 ×2 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001643693357793[0m ×4 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394556634676 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002394556634676[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850133460168 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002850133460168[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105284399557 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105284399557[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230976071853 ×2 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230976071853[0m ×4 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278008850655 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278008850655[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599103752614 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002599103752614[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034679068078 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003034679068078[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426638282169 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002426638282169[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723086573103 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723086573103[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959399049990 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002959399049990[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420826436364 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001420826436364[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235855007998 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002235855007998[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750556844511 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750556844511[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055276714672 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055276714672[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219727071689 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003219727071689[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295293270999 ×2 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003295293270999[0m ×4 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318228946497 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318228946497[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621430267395 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002621430267395[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863904766142 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002863904766142[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103151369335 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103151369335[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002479084522949 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002479084522949[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777451572574 ×2 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002777451572574[0m ×4 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976314614433 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976314614433[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407717918641 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407717918641[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023770760787 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023770760787[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561215247311 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002561215247311[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907724147058 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907724147058[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353455493177 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003353455493177[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396909570627 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396909570627[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700397924589 ×2 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700397924589[0m ×4 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946154644327 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946154644327[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103572492806 ×2 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003103572492806[0m ×4 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298531541474 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298531541474[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724338753894 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002724338753894[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999717145038 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002999717145038[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003168230848182 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003168230848182[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264065310461 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264065310461[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312818177109 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003312818177109[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332838517943 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332838517943[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630079580101 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002630079580101[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891286416063 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891286416063[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342817349788 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003342817349788[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807194409497 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807194409497[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813106370369 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001813106370369[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649465043038 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649465043038[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995374403326 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995374403326[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352655393956 ×2 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002352655393956[0m ×4 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810981103510 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810981103510[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097243714373 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097243714373[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936334785276 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936334785276[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788577734392 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788577734392[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658488331858 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658488331858[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552654649307 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552654649307[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471789149608 ×2 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471789149608[0m ×4 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413458863834 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003413458863834[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373858153666 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373858153666[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348886994823 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348886994823[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353515388372 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353515388372[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757593925337 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757593925337[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028021552044 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028021552044[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200281397892 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003200281397892[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303447524086 ×2 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303447524086[0m ×4 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360112140660 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003360112140660[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387041684848 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387041684848[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396147305492 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003396147305492[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395516914891 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395516914891[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390368706967 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003390368706967[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383860750029 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383860750029[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377737656479 ×2 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003377737656479[0m ×4 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372821844270 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372821844270[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369370138031 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369370138031[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 4407.010 us (Expected < 1666.667 us) --> Read time : 378.389 us, Update time : 3380.596 us, Write time : 648.025 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 4407.010 us (Expected < 1666.667 us) --> Read time : 378.389 us, Update time : 3380.596 us, Write time : 648.025 us[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829537270017 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003829537270017[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897397427155 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001897397427155[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638760206479 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001638760206479[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491517664224 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002491517664224[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001234913572 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001234913572[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297929905735 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297929905735[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789267287541 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789267287541[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211801615152 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002211801615152[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722882779700 ×2 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002722882779700[0m ×4 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390600232395 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004390600232395[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089432523824 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004089432523824[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853571988110 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003853571988110[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677845726232 ×2 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677845726232[0m ×4 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552977624462 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552977624462[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468538486260 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003468538486260[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414625144267 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414625144267[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382688412058 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003382688412058[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365822519847 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365822519847[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358739176150 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358739176150[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357578115437 ×2 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357578115437[0m ×4 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359651995899 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359651995899[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363184373591 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003363184373591[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219299131702 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219299131702[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902219009822 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003902219009822[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779981 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779981 ms (missed cycles : 2).[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682845059539 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003682845059539[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169915596234 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169915596234[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667591055970 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004667591055970[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004248715881563 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004248715881563[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712285089225 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712285089225[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227237175065 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227237175065[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884834399699 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884834399699[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348398375379 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004348398375379[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943256705491 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943256705491[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673841703831 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003673841703831[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503935070913 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003503935070913[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360475561363 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360475561363[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015786037715 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004015786037715[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753233402432 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753233402432[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578114506388 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003578114506388[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434465436723 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434465436723[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001971490638 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001971490638[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712252957077 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712252957077[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527604377286 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527604377286[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709727630841 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709727630841[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931633187356 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931633187356[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287394684024 ×2 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004287394684024[0m ×4 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925171236742 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003925171236742[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017829860937 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005017829860937[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353538375608 ×2 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353538375608[0m ×4 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904173523401 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904173523401[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035466124327 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002035466124327[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791904804873 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791904804873[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254105531057 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254105531057[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229975769029 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229975769029[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483118574447 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483118574447[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976298133689 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976298133689[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829221779062 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004829221779062[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604841390359 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002604841390359[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110514942937 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110514942937[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095006492313 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005095006492313[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168054607385 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168054607385[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414133769016 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414133769016[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181836517024 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181836517024[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595327966042 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595327966042[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475036301158 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475036301158[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651511729884 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651511729884[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058186071416 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004058186071416[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171922921699 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003171922921699[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607843968216 ×2 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004607843968216[0m ×4 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492168745229 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005492168745229[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994733458378 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005994733458378[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920233261042 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920233261042[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765545722701 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765545722701[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715722581904 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715722581904[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342948817531 ×2 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342948817531[0m ×4 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407648425598 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407648425598[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126137616542 ×2 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126137616542[0m ×4 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063900771799 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004063900771799[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040293160894 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003040293160894[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470136566905 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470136566905[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359558661623 ×2 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005359558661623[0m ×4 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871564217602 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005871564217602[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131953536113 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006131953536113[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922695257904 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922695257904[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758863724841 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758863724841[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636966828616 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004636966828616[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215578728640 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005215578728640[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581042542495 ×2 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005581042542495[0m ×4 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490953716136 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490953716136[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097543632641 ×2 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005097543632641[0m ×4 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960166308936 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960166308936[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837460878645 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837460878645[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393936556763 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005393936556763[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722506349063 ×2 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722506349063[0m ×4 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896239522384 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005896239522384[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676647690498 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676647690498[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179417473597 ×2 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005179417473597[0m ×4 + 2.06sWARNcontroller_managerOverrun might occur, Total time : 1755.549 us (Expected < 1666.667 us) --> Read time : 485.241 us, Update time : 698.455 us, Write time : 571.853 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1755.549 us (Expected < 1666.667 us) --> Read time : 485.241 us, Update time : 698.455 us, Write time : 571.853 us[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499965545721 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499965545721[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046965215481 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046965215481[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830747534930 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004830747534930[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330282214780 ×2 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330282214780[0m ×4 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626727823320 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005626727823320[0m ×2 + 2.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328300039450 + 2.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328300039450[0m ×2 + 2.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135794419691 ×2 + 2.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135794419691[0m ×4 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344143870254 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344143870254[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108478110609 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005108478110609[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005557741655691 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005557741655691[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793362844251 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005793362844251[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003123287848817 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003123287848817[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421239238527 ×2 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421239238527[0m ×4 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623578910928 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002623578910928[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090560727198 ×2 + 2.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090560727198[0m ×4 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247235791512 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002247235791512[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823590994773 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003823590994773[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822430570686 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822430570686[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662059048559 ×2 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662059048559[0m ×4 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017953987676 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004017953987676[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878187468824 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004878187468824[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386522244554 ×2 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005386522244554[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455543 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455543 ms (missed cycles : 3).[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656015833611 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005656015833611[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102607560402 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102607560402[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813224261860 ×2 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813224261860[0m ×4 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812784269177 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812784269177[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132325698473 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132325698473[0m ×2 + 2.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002239690581151 + 2.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002239690581151[0m ×2 + 2.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001030232072696 ×2 + 2.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001030232072696[0m ×4 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306168267325 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306168267325[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625396046185 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002625396046185[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124919909866 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124919909866[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005033764904787 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005033764904787[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837102497965 ×2 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002837102497965[0m ×4 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099325344543 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099325344543[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885105917040 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004885105917040[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352213900276 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352213900276[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348016759863 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348016759863[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946759979794 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946759979794[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918036494870 ×2 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004918036494870[0m ×4 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784713401164 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002784713401164[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025456434456 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025456434456[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223058918774 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223058918774[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353195663194 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353195663194[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000565492955 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000565492955[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984190043331 ×2 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004984190043331[0m ×4 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514511019205 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005514511019205[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007996834420352 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007996834420352[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434457767497 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009434457767497[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007940722147811 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007940722147811[0m ×2 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236695397961 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236695397961[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711513833897 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006711513833897[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008280080592139 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008280080592139[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397570334269 ×2 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004397570334269[0m ×4 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006726071986353 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006726071986353[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015277610904 ×2 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006015277610904[0m ×4 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548144203599 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548144203599[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007442705762324 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007442705762324[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358477288007 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358477288007[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995471593438 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005995471593438[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006741128102367 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006741128102367[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226788951265 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008226788951265[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006936505982549 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006936505982549[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526382183308 ×2 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526382183308[0m ×4 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058099343472 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058099343472[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007687843123590 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007687843123590[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542009796024 ×2 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006542009796024[0m ×4 + 2.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007886220774791 + 2.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007886220774791[0m ×2 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006285118036211 ×2 + 2.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006285118036211[0m ×4 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007696789484333 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007696789484333[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451861231163 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451861231163[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007709905939621 ×2 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007709905939621[0m ×4 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390303852251 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006390303852251[0m ×2 + 2.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007596800434511 + 2.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007596800434511[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005975611406267 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005975611406267[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465086184270 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005465086184270[0m ×2 + 2.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007128436322400 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007128436322400[0m ×2 + 2.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008132771820002 + 2.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008132771820002[0m ×2 + 2.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273472503487 ×2 + 2.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273472503487[0m ×4 + 2.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817111531933 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817111531933[0m ×2 + 2.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760742558385 + 2.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760742558385[0m ×2 + 3.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006679186354808 ×2 + 3.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006679186354808[0m ×4 + 3.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007847932163527 + 3.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007847932163527[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008492456367551 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008492456367551[0m ×2 + 3.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008787817183484 + 3.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008787817183484[0m ×2 + 3.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010048022535066 + 3.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010048022535066[0m ×2 + 3.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007665447677160 + 3.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007665447677160[0m ×2 + 3.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756984559727 ×2 + 3.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003756984559727[0m ×4 + 3.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328688545481 + 3.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001328688545481[0m ×2 + 3.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062306869210 + 3.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062306869210[0m ×2 + 3.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514750629125 ×2 + 3.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514750629125[0m ×4 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 2252.741 us (Expected < 1666.667 us) --> Read time : 228.665 us, Update time : 151.524 us, Write time : 1872.552 us + 3.11sWARNros2_control_nodeOverrun might occur, Total time : 2252.741 us (Expected < 1666.667 us) --> Read time : 228.665 us, Update time : 151.524 us, Write time : 1872.552 us[0m ×2 + 3.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788115476213 + 3.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788115476213[0m ×2 + 3.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302195492767 ×2 + 3.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006302195492767[0m ×4 + 3.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007781447762268 + 3.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007781447762268[0m ×2 + 3.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712256503600 + 3.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712256503600[0m ×2 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000474536213289 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000474536213289[0m ×2 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000617165040958 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000617165040958[0m ×2 + 3.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576960208519 + 3.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576960208519[0m ×2 + 3.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217674284665 ×2 + 3.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217674284665[0m ×4 + 3.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007752932534647 + 3.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007752932534647[0m ×2 + 3.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008537666345997 ×2 + 3.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008537666345997[0m ×4 + 3.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839737270687 + 3.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008839737270687[0m ×2 + 3.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762348268712 + 3.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762348268712[0m ×2 + 3.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122713902491 ×2 + 3.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122713902491[0m ×4 + 3.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523256669120 + 3.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000523256669120[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931356 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931356 ms (missed cycles : 2).[0m ×2 + 3.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000766376564020 + 3.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000766376564020[0m ×2 + 3.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000838410186618 + 3.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000838410186618[0m ×2 + 3.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712719083823 + 3.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000712719083823[0m ×2 + 3.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000560335108865 + 3.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000560335108865[0m ×2 + 3.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411896785309 + 3.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000411896785309[0m ×2 + 3.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000282945452365 ×2 + 3.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000282945452365[0m ×4 + 3.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179381039819 + 3.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179381039819[0m ×2 + 3.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101389421870 + 3.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101389421870[0m ×2 + 3.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046137195018 ×2 + 3.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046137195018[0m ×4 + 3.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009522883261 + 3.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009522883261[0m ×2 + 3.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012760798520 + 3.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012760798520[0m ×2 + 3.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024644438028 ×2 + 3.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024644438028[0m ×4 + 3.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029416525360 + 3.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029416525360[0m ×2 + 3.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027268317214 + 3.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027268317214[0m ×2 + 3.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023595672733 + 3.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023595672733[0m ×2 + 3.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019518753275 ×2 + 3.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019518753275[0m ×4 + 3.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015575275141 + 3.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015575275141[0m ×2 + 3.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012056584656 ×2 + 3.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012056584656[0m ×4 + 3.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009087364150 + 3.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009087364150[0m ×2 + 3.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006686859658 + 3.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006686859658[0m ×2 + 3.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004813515279 + 3.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004813515279[0m ×2 + 3.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003395832375 + 3.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003395832375[0m ×2 + 3.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002352461255 + 3.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002352461255[0m ×2 + 3.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001604306461 + 3.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001604306461[0m ×2 + 3.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001081003538 + 3.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001081003538[0m ×2 + 3.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000723643080 + 3.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000723643080[0m ×2 + 3.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000485156754 + 3.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000485156754[0m ×2 + 3.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000329379933 + 3.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000329379933[0m ×2 + 3.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000229481564 + 3.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000229481564[0m ×2 + 3.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166203373 ×2 + 3.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000166203373[0m ×4 + 3.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126169351 + 3.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126169351[0m ×2 + 3.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004527952862 + 3.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000004527952862[0m ×2 + 3.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003605711502 + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781205632.03350449 seconds ×3 + 3.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.000003605711502[0m ×2 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.20sWARNcontroller_managerOverrun might occur, Total time : 2332.973 us (Expected < 1666.667 us) --> Read time : 499.851 us, Update time : 704.196 us, Write time : 1128.926 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 2332.973 us (Expected < 1666.667 us) --> Read time : 499.851 us, Update time : 704.196 us, Write time : 1128.926 us[0m ×2 + 4.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781205632.74755907 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423447 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423447 ms (missed cycles : 2).[0m ×2 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.55sINFOros2_control_node[2026-06-11 19:20:32.931] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-06-11 19:20:32.931] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun might occur, Total time : 1897.013 us (Expected < 1666.667 us) --> Read time : 231.435 us, Update time : 89.872 us, Write time : 1575.706 us + 5.36sWARNros2_control_nodeOverrun might occur, Total time : 1897.013 us (Expected < 1666.667 us) --> Read time : 231.435 us, Update time : 89.872 us, Write time : 1575.706 us[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267265 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267265 ms (missed cycles : 4).[0m ×2 + 5.80sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sWARNcontroller_managerOverrun might occur, Total time : 1938.474 us (Expected < 1666.667 us) --> Read time : 195.745 us, Update time : 46.371 us, Write time : 1696.358 us + 6.37sWARNros2_control_nodeOverrun might occur, Total time : 1938.474 us (Expected < 1666.667 us) --> Read time : 195.745 us, Update time : 46.371 us, Write time : 1696.358 us[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797617 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797617 ms (missed cycles : 3).[0m ×2 + 7.23sINFOros2_control_nodeMuJoCo sim: 1.62% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 1713.939 us (Expected < 1666.667 us) --> Read time : 269.046 us, Update time : 100.472 us, Write time : 1344.421 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 1713.939 us (Expected < 1666.667 us) --> Read time : 269.046 us, Update time : 100.472 us, Write time : 1344.421 us[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733314 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733314 ms (missed cycles : 2).[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000346251984338 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000346251984338[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842601434151 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000842601434151[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119396597788 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001119396597788[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220969993570 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220969993570[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309488679212 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309488679212[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001319860675466 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001319860675466[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001287963494528 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001287963494528[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636932798689 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001636932798689[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442175796674 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442175796674[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289842852028 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001289842852028[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001176155540681 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001176155540681[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001366817499205 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001366817499205[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001207989886527 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001207989886527[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101578667184 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001101578667184[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110491981804 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001110491981804[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738631654225 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000738631654225[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822446134835 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000822446134835[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888146640625 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888146640625[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073186 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073186 ms (missed cycles : 2).[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000583194466666 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000583194466666[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000540341516926 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000540341516926[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902350339190 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902350339190[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027345063209 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001027345063209[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 3451.488 us (Expected < 1666.667 us) --> Read time : 390.309 us, Update time : 819.439 us, Write time : 2241.740 us + 8.51sWARNros2_control_nodeOverrun might occur, Total time : 3451.488 us (Expected < 1666.667 us) --> Read time : 390.309 us, Update time : 819.439 us, Write time : 2241.740 us[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000731706489731 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000731706489731[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000650856335195 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000650856335195[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000658369130679 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000658369130679[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000932220518909 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000932220518909[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301338185703 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301338185703[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313532613438 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313532613438[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001297321063162 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001297321063162[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668125953102 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001668125953102[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489059612698 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489059612698[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354948142110 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354948142110[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001414128106506 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001414128106506[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001295076918038 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001295076918038[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001215594280941 + 8.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001215594280941[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233039018564 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001233039018564[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729885666770 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729885666770[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611959556770 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611959556770[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884528607848 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000884528607848[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001059209465255 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001059209465255[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164180532801 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164180532801[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221907030810 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221907030810[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249375596673 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001249375596673[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633805735521 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001633805735521[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001488764647043 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001488764647043[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382621609437 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001382621609437[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309621706369 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001309621706369[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371134322090 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371134322090[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299626227585 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001299626227585[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255568110339 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001255568110339[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001231561538085 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001231561538085[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293625799236 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001293625799236[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258770543857 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001258770543857[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415469495283 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415469495283[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369548151149 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001369548151149[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336312380655 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336312380655[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399255757849 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399255757849[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351928246484 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351928246484[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321363344200 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321363344200[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304006735303 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304006735303[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421314358228 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001421314358228[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001366883728712 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001366883728712[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499116785216 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001499116785216[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001444349463205 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001444349463205[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404985522848 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404985522848[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001378646044732 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001378646044732[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362651274133 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001362651274133[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354881260590 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001354881260590[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352950176315 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001352950176315[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355059349170 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355059349170[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577674752442 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577674752442[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494594890300 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494594890300[0m ×2 + 8.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001440725355018 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001440725355018[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001408782331206 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001408782331206[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392542699636 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392542699636[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387028136090 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387028136090[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580178226696 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580178226696[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539819170319 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001539819170319[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766985058120 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766985058120[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001645831656148 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001645831656148[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001561950727093 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001561950727093[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685536594251 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685536594251[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582425419273 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001582425419273[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516275896943 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516275896943[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477652206227 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477652206227[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458204797298 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001458204797298[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689051737284 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689051737284[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592018402033 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001592018402033[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686124676699 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686124676699[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764710586405 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001764710586405[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685276582135 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685276582135[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919095676766 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919095676766[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769491158632 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769491158632[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666237104103 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666237104103[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001599184433089 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001599184433089[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834667421986 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001834667421986[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702617734028 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001702617734028[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618449871349 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001618449871349[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001569201821951 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001569201821951[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543766905951 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001543766905951[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534257142608 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534257142608[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534679256136 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001534679256136[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540823734937 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001540823734937[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982836993289 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982836993289[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820545912575 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820545912575[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516651789316 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001516651789316[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827471295187 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001827471295187[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499736868848 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499736868848[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194287017727 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002194287017727[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975561464020 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001975561464020[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220530826540 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002220530826540[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620043099997 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001620043099997[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369167918221 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369167918221[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002113662953380 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002113662953380[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933037201916 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933037201916[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001810953303293 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001810953303293[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001732769780567 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001732769780567[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686887621857 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001686887621857[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662879187696 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001662879187696[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122933309808 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002122933309808[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001936166300135 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001936166300135[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812893953989 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001812893953989[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736101750518 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736101750518[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001692600547468 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001692600547468[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694002 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694002 ms (missed cycles : 2).[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671125461045 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001671125461045[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663598832135 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001663598832135[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127377903666 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002127377903666[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949325076415 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949325076415[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001831135977717 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001831135977717[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757083674159 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001757083674159[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222287952135 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002222287952135[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002000534379540 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002000534379540[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001965644545116 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001965644545116[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994312724377 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994312724377[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131082649370 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002131082649370[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982562695858 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982562695858[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001877283025294 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001877283025294[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538628977804 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002538628977804[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560332988710 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560332988710[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224329773543 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224329773543[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996701664655 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996701664655[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850242756103 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850242756103[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002318464120207 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002318464120207[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078614808998 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002078614808998[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921673970185 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001921673970185[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820417825894 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820417825894[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289089948340 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002289089948340[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047468768050 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047468768050[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001889042175002 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001889042175002[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357746054800 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002357746054800[0m ×2 + 9.72sWARNcontroller_managerOverrun might occur, Total time : 4131.294 us (Expected < 1666.667 us) --> Read time : 3526.580 us, Update time : 99.062 us, Write time : 505.652 us + 9.73sWARNros2_control_nodeOverrun might occur, Total time : 4131.294 us (Expected < 1666.667 us) --> Read time : 3526.580 us, Update time : 99.062 us, Write time : 505.652 us[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079482708564 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079482708564[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990169139759 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001990169139759[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003397745620 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003397745620[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002038602199937 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002038602199937[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292211410029 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292211410029[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830056112009 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830056112009[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407432021488 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002407432021488[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660763891604 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660763891604[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272228620660 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002272228620660[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013772084924 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002013772084924[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850937562788 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001850937562788[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488242230171 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002488242230171[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002528330546320 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002528330546320[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181193362114 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002181193362114[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001954586376017 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001954586376017[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421692923879 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421692923879[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102884422364 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102884422364[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899689992918 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899689992918[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778393717152 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778393717152[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244877095079 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244877095079[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002000088877216 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002000088877216[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846278109049 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001846278109049[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486106228977 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002486106228977[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708849346859 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708849346859[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971562607017 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001971562607017[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755445653269 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002755445653269[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046890132529 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002046890132529[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908322099370 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002908322099370[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582161624356 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002582161624356[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198737448486 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003198737448486[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718120592847 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718120592847[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254389668017 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254389668017[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718236039272 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718236039272[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359994834104 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359994834104[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002974627649138 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002974627649138[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131939497553 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131939497553[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614722776648 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614722776648[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278745683626 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278745683626[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916005239374 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916005239374[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001255098510 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003001255098510[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001927959537533 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001927959537533[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786502253477 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002786502253477[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318718323430 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318718323430[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780083474835 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780083474835[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259558836532 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003259558836532[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700388820839 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002700388820839[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992188308113 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992188308113[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514000770140 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514000770140[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055545507189 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003055545507189[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551239049925 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002551239049925[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843242986646 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002843242986646[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410484862079 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002410484862079[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988041267420 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002988041267420[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509946314290 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509946314290[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802103889779 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002802103889779[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387825956954 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002387825956954[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978160264118 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978160264118[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441266193552 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441266193552[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051961093729 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051961093729[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344247428685 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344247428685[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763793479904 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763793479904[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227293281943 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227293281943[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663966441873 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663966441873[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956316576181 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956316576181[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481434127911 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002481434127911[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003031006418224 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003031006418224[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451086846936 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002451086846936[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053037192793 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003053037192793[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345382268933 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345382268933[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760764241387 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002760764241387[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368617372056 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368617372056[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018231704609 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018231704609[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558375955988 + 10.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003558375955988[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907143679650 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907143679650[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318414757141 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003318414757141[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718693280569 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002718693280569[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177509554464 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177509554464[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469721915501 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003469721915501[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596433878477 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596433878477[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121189502484 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121189502484[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448341593755 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448341593755[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792001182662 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792001182662[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213548665298 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213548665298[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632186062309 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632186062309[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003110047943262 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003110047943262[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402016646742 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402016646742[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749690993265 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749690993265[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177957797297 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003177957797297[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449848759268 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003449848759268[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474878345253 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474878345253[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781847622243 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781847622243[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992079 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992079 ms (missed cycles : 4).[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185507933595 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185507933595[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463428702548 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002463428702548[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262905962481 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262905962481[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801884945078 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801884945078[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297067051627 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297067051627[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589633242824 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003589633242824[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745462550301 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003745462550301[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813757475435 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003813757475435[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827281234718 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003827281234718[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994484408125 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994484408125[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301040301440 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003301040301440[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496828383624 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003496828383624[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771048132857 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771048132857[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157603121498 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003157603121498[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448731366489 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003448731366489[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590741692759 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003590741692759[0m ×2 + 10.73sWARNcontroller_managerOverrun might occur, Total time : 2135.948 us (Expected < 1666.667 us) --> Read time : 286.066 us, Update time : 1298.570 us, Write time : 551.312 us + 10.73sWARNros2_control_nodeOverrun might occur, Total time : 2135.948 us (Expected < 1666.667 us) --> Read time : 286.066 us, Update time : 1298.570 us, Write time : 551.312 us[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827804636141 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827804636141[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790284019235 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001790284019235[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002113723836008 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002113723836008[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934026494263 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934026494263[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433155494813 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433155494813[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711454813205 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711454813205[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703881066966 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004703881066966[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280009737818 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002280009737818[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947791561038 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947791561038[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367103619489 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367103619489[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612127732125 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003612127732125[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740440430960 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740440430960[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794701683015 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794701683015[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805147908368 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805147908368[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095302832846 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095302832846[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971614532491 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971614532491[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871658189556 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871658189556[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795396602912 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795396602912[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740160291890 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740160291890[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702198015953 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702198015953[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677608057451 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677608057451[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662842945705 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662842945705[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687688616056 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687688616056[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670300475889 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670300475889[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660339034778 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660339034778[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655386615333 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655386615333[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740161173644 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740161173644[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893329244047 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893329244047[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688696863106 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688696863106[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204541804250 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204541804250[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192143595485 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004192143595485[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129899723245 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129899723245[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043955190430 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043955190430[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955277922461 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955277922461[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875125802379 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875125802379[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408961725479 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408961725479[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138770754828 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004138770754828[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945357823234 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945357823234[0m ×2 + 11.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144414564932 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144414564932[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228931972504 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228931972504[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038042107238 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004038042107238[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897235646111 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003897235646111[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797838088735 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797838088735[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330668709649 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330668709649[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060639178456 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060639178456[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173820905469 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173820905469[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004270389132647 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004270389132647[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425630262520 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004425630262520[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167383027842 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004167383027842[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253151129505 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004253151129505[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054948957450 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054948957450[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584402743616 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584402743616[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234034545347 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004234034545347[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970491438356 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970491438356[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764131639721 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764131639721[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632536386103 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632536386103[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147206809061 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147206809061[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874003071075 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874003071075[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697750209566 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697750209566[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211940167656 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004211940167656[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909762807515 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003909762807515[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714944251631 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714944251631[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597032236896 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003597032236896[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546484244947 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546484244947[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120291678859 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120291678859[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838486201873 + 11.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838486201873[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662219597260 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662219597260[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175624888812 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175624888812[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088689956167 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088689956167[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128446510987 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128446510987[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931894336605 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931894336605[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272231657140 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005272231657140[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005353455158817 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005353455158817[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118530323019 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118530323019[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958582203577 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003958582203577[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416936244999 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005416936244999[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928593168228 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005928593168228[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112304328715 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005112304328715[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514960184483 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514960184483[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576852935696 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005576852935696[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726512923404 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005726512923404[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827627984940 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827627984940[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220153221990 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004220153221990[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163824743186 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005163824743186[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415458617560 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004415458617560[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931990546409 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931990546409[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650043 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650043 ms (missed cycles : 3).[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606401791389 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003606401791389[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041346336548 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003041346336548[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666887659918 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666887659918[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005674676380468 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005674676380468[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825828221844 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004825828221844[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658991209478 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005658991209478[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737028761883 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737028761883[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770842463877 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770842463877[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123840625397 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123840625397[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005137834743012 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005137834743012[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281898557759 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281898557759[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443099861814 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443099861814[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898572614517 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898572614517[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989205870206 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989205870206[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255120369630 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005255120369630[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004427301179556 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004427301179556[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161688251765 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003161688251765[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652619519572 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003652619519572[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994626657089 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994626657089[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005816520751136 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005816520751136[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859297271968 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859297271968[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764844457211 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764844457211[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766219078394 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766219078394[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518084868569 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518084868569[0m ×2 + 11.80sWARNcontroller_managerOverrun might occur, Total time : 2256.711 us (Expected < 1666.667 us) --> Read time : 409.189 us, Update time : 767.518 us, Write time : 1080.004 us + 11.81sWARNros2_control_nodeOverrun might occur, Total time : 2256.711 us (Expected < 1666.667 us) --> Read time : 409.189 us, Update time : 767.518 us, Write time : 1080.004 us[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558858619266 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004558858619266[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936194233677 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936194233677[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839473639394 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839473639394[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601495000809 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601495000809[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640041526155 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640041526155[0m ×2 + 11.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419118681016 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005419118681016[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005898890545038 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005898890545038[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760329692516 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760329692516[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430596123095 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430596123095[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443253898940 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004443253898940[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005341579207525 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005341579207525[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373507860960 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004373507860960[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170308537977 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005170308537977[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683234011077 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683234011077[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589275137559 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004589275137559[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291887610764 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005291887610764[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650170712442 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005650170712442[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493859657834 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004493859657834[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105367233898 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105367233898[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504227388463 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005504227388463[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005748670418422 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005748670418422[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005788458464444 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005788458464444[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567529712147 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567529712147[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133479440148 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133479440148[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503186973603 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503186973603[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966019754984 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966019754984[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676989789169 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004676989789169[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190968404275 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190968404275[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524950195214 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005524950195214[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058415297366 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003058415297366[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357939586951 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357939586951[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184847392743 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005184847392743[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006755664616433 + 12.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006755664616433[0m ×2 + 12.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006646569438198 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006646569438198[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488974223706 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488974223706[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006322420706048 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006322420706048[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006780412611739 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006780412611739[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451910630781 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451910630781[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006673871834362 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006673871834362[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375266356248 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375266356248[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006621669086059 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006621669086059[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296059895669 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296059895669[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058007842429 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006058007842429[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879924402019 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005879924402019[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758012148341 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005758012148341[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846287316593 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846287316593[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142021081251 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142021081251[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673443944821 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673443944821[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007729661377475 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007729661377475[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007176716510406 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007176716510406[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006705867176321 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006705867176321[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109371037252 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109371037252[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006577119805179 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006577119805179[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008720415348490 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008720415348490[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009158700579161 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009158700579161[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865265765254 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865265765254[0m ×2 + 12.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006919721066024 + 12.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006919721066024[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006257605013720 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006257605013720[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814274320333 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814274320333[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007295122141552 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007295122141552[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006424372891126 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006424372891126[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844257844865 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844257844865[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479896369419 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005479896369419[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545649553699 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545649553699[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006559262669676 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006559262669676[0m ×2 + 12.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005900684749505 + 12.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005900684749505[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483000869060 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005483000869060[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006921643989709 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006921643989709[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120743781429 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120743781429[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005600564295884 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005600564295884[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007029895619977 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007029895619977[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006161480918912 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006161480918912[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749655620224 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749655620224[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007165943531116 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007165943531116[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008632857352964 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008632857352964[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009389265834956 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009389265834956[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007715750536000 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007715750536000[0m ×2 + 12.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008724189555413 + 12.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008724189555413[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102017798338 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102017798338[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008180342467560 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008180342467560[0m ×2 + 12.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214707207002 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214707207002[0m ×2 + 12.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006675269711318 + 12.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006675269711318[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541408 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541408 ms (missed cycles : 3).[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007806666404911 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007806666404911[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042369447396 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006042369447396[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007388471008725 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007388471008725[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008282163062437 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008282163062437[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688298904054 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006688298904054[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007731740194782 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007731740194782[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008448459822357 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008448459822357[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175604123957 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175604123957[0m ×2 + 12.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007406797547988 + 12.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007406797547988[0m ×2 + 12.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008147136161120 + 12.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008147136161120[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008547773064955 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008547773064955[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063929160682 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063929160682[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201281883567 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007201281883567[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009553260529400 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009553260529400[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007342785794761 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007342785794761[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007854203503622 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007854203503622[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008133663952512 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008133663952512[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008809127944268 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008809127944268[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667121081151 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008667121081151[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008502667168759 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008502667168759[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008338135897427 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008338135897427[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008696245440134 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008696245440134[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403619485388 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403619485388[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008169953745878 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008169953745878[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007986435528562 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007986435528562[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008634760751502 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008634760751502[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008237940581961 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008237940581961[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007948289754579 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007948289754579[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008587374731018 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008587374731018[0m ×2 + 12.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008129228289065 + 12.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008129228289065[0m ×2 + 12.87sWARNcontroller_managerOverrun might occur, Total time : 3376.816 us (Expected < 1666.667 us) --> Read time : 226.995 us, Update time : 2587.629 us, Write time : 562.192 us + 12.87sWARNros2_control_nodeOverrun might occur, Total time : 3376.816 us (Expected < 1666.667 us) --> Read time : 226.995 us, Update time : 2587.629 us, Write time : 562.192 us[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008534413481594 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008534413481594[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781133580707 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008781133580707[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008312068496554 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008312068496554[0m ×2 + 12.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011214983556862 + 12.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011214983556862[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009420172074001 + 12.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009420172074001[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008636111347979 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008636111347979[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342407488969 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008342407488969[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010898289935864 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010898289935864[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012869879358164 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012869879358164[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010447689899649 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010447689899649[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746769432969 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746769432969[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010682564896300 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010682564896300[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008778511758977 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008778511758977[0m ×2 + 13.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007517416524896 + 13.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007517416524896[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009698764028505 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009698764028505[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010715168618974 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010715168618974[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008681392854551 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008681392854551[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010250020918711 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010250020918711[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897835744360 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897835744360[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707073607480 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008707073607480[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010384647395371 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010384647395371[0m ×2 + 13.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011267145492054 + 13.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011267145492054[0m ×2 + 13.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011618368073002 + 13.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011618368073002[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013340859463520 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013340859463520[0m ×2 + 13.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009986346132337 + 13.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009986346132337[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010403180005096 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010403180005096[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010558128818717 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010558128818717[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011455694202789 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011455694202789[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011081483807381 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011081483807381[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010713875836002 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010713875836002[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010375059286156 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010375059286156[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010840799490179 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010840799490179[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010352855293179 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010352855293179[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009959984257255 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009959984257255[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009645847233476 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009645847233476[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010473000359384 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010473000359384[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011961355796098 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011961355796098[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010877177304448 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010877177304448[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010042330489864 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010042330489864[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013579823623222 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013579823623222[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013992813079687 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013992813079687[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011691165008624 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011691165008624[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010073002130437 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010073002130437[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012601681646956 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012601681646956[0m ×2 + 13.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007838442914287 + 13.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007838442914287[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010281877137316 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010281877137316[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013111970427092 + 13.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013111970427092[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014575257387824 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014575257387824[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015118581568718 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015118581568718[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011557471703464 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011557471703464[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012634627462038 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012634627462038[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013095200695726 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013095200695726[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013146812810384 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013146812810384[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013751245378313 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013751245378313[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013299249365050 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013299249365050[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012780091971836 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012780091971836[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012251954525318 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012251954525318[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011747312832208 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011747312832208[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011281772752933 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011281772752933[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012069092632781 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012069092632781[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016320091778727 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016320091778727[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019378834509021 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019378834509021[0m ×2 + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015417913611078 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015417913611078[0m ×2 + 13.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012563928274540 + 13.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012563928274540[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015030923371055 + 13.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015030923371055[0m ×2 + 13.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016510931870176 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016510931870176[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012734160867319 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012734160867319[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014285192869533 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014285192869533[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014859458462989 + 13.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014859458462989[0m ×2 + 13.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017274825913838 + 13.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017274825913838[0m ×2 + 13.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016166952783058 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016166952783058[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012844629683911 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012844629683911[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018886378180716 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018886378180716[0m ×2 + 13.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021505965499807 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021505965499807[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023285162690963 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023285162690963[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017851995509732 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017851995509732[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018678198402381 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018678198402381[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018279257498085 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018279257498085[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019707472168723 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019707472168723[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924797 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924797 ms (missed cycles : 3).[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017975377941123 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017975377941123[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009968343509134 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009968343509134[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012165720356331 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012165720356331[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012097945020904 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012097945020904[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011681108472058 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011681108472058[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011083405342473 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011083405342473[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012027370435526 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012027370435526[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008270810869906 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008270810869906[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154629818351 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154629818351[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012765902217 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012765902217[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801141883412 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801141883412[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007816926927834 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007816926927834[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008779357470911 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008779357470911[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010087453150961 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010087453150961[0m ×2 + 13.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958380431666 + 13.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004958380431666[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433770573440 + 13.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433770573440[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007185334818067 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007185334818067[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007460680910573 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007460680910573[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005794582567281 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005794582567281[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283736074536 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006283736074536[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006823008322570 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006823008322570[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270096515235 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005270096515235[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760705487109 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760705487109[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549953373178 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549953373178[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216007470921 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216007470921[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212522639480 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212522639480[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946943159328 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946943159328[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195239437692 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005195239437692[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208255975121 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208255975121[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884261750677 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884261750677[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011671204640 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004011671204640[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815720259078 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004815720259078[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952268166994 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952268166994[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640110225739 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004640110225739[0m ×2 + 13.97sWARNcontroller_managerOverrun might occur, Total time : 2113.848 us (Expected < 1666.667 us) --> Read time : 226.826 us, Update time : 1125.895 us, Write time : 761.127 us + 13.97sWARNros2_control_nodeOverrun might occur, Total time : 2113.848 us (Expected < 1666.667 us) --> Read time : 226.826 us, Update time : 1125.895 us, Write time : 761.127 us[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865563364634 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004865563364634[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002920740206627 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002920740206627[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082627950688 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082627950688[0m ×2 + 13.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784698593097 + 13.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784698593097[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164375754269 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164375754269[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328939130200 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328939130200[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361499570943 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005361499570943[0m ×2 + 14.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285406497522 + 14.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285406497522[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648734139958 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648734139958[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782297611377 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782297611377[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463968288511 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463968288511[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004702322250279 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004702322250279[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478892525814 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478892525814[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081066250087 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081066250087[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729591240847 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729591240847[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843119199809 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843119199809[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263167390586 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004263167390586[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605283351418 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605283351418[0m ×2 + 14.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735147836823 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735147836823[0m ×2 + 14.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456594703845 + 14.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002456594703845[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463290476269 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003463290476269[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090382861089 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004090382861089[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444802447722 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444802447722[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616579283896 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004616579283896[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671994479233 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004671994479233[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989884936007 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989884936007[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855590987150 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855590987150[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817079052516 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817079052516[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033071201657 + 14.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033071201657[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604341891344 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604341891344[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632686194350 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632686194350[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896606534525 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896606534525[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061972165263 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061972165263[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357103377989 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357103377989[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340362131704 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340362131704[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310478416798 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310478416798[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396500010258 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004396500010258[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325772266922 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325772266922[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262595065141 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004262595065141[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207368334336 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004207368334336[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159561099162 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004159561099162[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483480700940 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483480700940[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591700317113 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004591700317113[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414186816384 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005414186816384[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006484113569756 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006484113569756[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009065331816382 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009065331816382[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008763367386422 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008763367386422[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009064921217925 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009064921217925[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258824505665 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258824505665[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007631259694808 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007631259694808[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007149921525223 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007149921525223[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006788493887574 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006788493887574[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008489589842751 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008489589842751[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007525815495745 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007525815495745[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006855903528028 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006855903528028[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006407224148913 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006407224148913[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008023231068453 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008023231068453[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007129303935647 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007129303935647[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006697971481046 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006697971481046[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007472090214181 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007472090214181[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007580601272058 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007580601272058[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009612017812666 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009612017812666[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008131847967098 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008131847967098[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009697142689164 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009697142689164[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009831277485534 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009831277485534[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008018260053361 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008018260053361[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006844592731036 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006844592731036[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008588073287747 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008588073287747[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009013180797713 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009013180797713[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007330952782858 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007330952782858[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284883289393 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284883289393[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738266881979 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738266881979[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006517566483992 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006517566483992[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008084888381618 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008084888381618[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006604345028449 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006604345028449[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945712 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945712 ms (missed cycles : 2).[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007962394570455 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007962394570455[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488551476149 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006488551476149[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007656221918397 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007656221918397[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006314512281304 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006314512281304[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007583897094493 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007583897094493[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243893665904 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006243893665904[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007451549637262 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007451549637262[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937734087352 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937734087352[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007953519010169 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007953519010169[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296217169162 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006296217169162[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475331004749 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005475331004749[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522552506424 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522552506424[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249604275053 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007249604275053[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007631490818027 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007631490818027[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007944537041120 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007944537041120[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920041468139 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005920041468139[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554915416250 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006554915416250[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007054497632033 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007054497632033[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008048299279370 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008048299279370[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007827440962262 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007827440962262[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007554382652508 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007554382652508[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007294579874526 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007294579874526[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007050533274360 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007050533274360[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006834030196790 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006834030196790[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641799257176 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006641799257176[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007626512889247 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007626512889247[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007678566383437 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007678566383437[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006308162115674 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006308162115674[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592464322782 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592464322782[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006986627704004 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006986627704004[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362495389819 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362495389819[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151569712149 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151569712149[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005837102453637 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005837102453637[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006582964141118 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006582964141118[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151992953349 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151992953349[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746006433115 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746006433115[0m ×2 + 14.99sWARNcontroller_managerOverrun might occur, Total time : 4291.877 us (Expected < 1666.667 us) --> Read time : 225.525 us, Update time : 3522.099 us, Write time : 544.253 us + 15.00sWARNros2_control_nodeOverrun might occur, Total time : 4291.877 us (Expected < 1666.667 us) --> Read time : 225.525 us, Update time : 3522.099 us, Write time : 544.253 us[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505271537834 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505271537834[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006286623323915 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006286623323915[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947414940561 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947414940561[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007953564469079 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007953564469079[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260012618475 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260012618475[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897078044940 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005897078044940[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006313269583137 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006313269583137[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234368950856 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005234368950856[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039770592571 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005039770592571[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006202581270653 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006202581270653[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006366998634823 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006366998634823[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924988189115 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924988189115[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987267767323 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987267767323[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076394896047 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076394896047[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502267390813 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006502267390813[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904521901944 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904521901944[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007366512228027 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007366512228027[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928765628156 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002928765628156[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008956862697050 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008956862697050[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006467919265565 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006467919265565[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007033310951172 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007033310951172[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008292523997545 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008292523997545[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791213345988 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791213345988[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009644651055598 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009644651055598[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004953739883959 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004953739883959[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008858976012159 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008858976012159[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002842791652382 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002842791652382[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005968399211296 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005968399211296[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006286445588423 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006286445588423[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005799968982433 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005799968982433[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646213148922 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646213148922[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310948612421 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005310948612421[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006420788956218 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006420788956218[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817943264002 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817943264002[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404511633333 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006404511633333[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006345325607584 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006345325607584[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774760228960 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774760228960[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010418985267558 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010418985267558[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003725170748494 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003725170748494[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006890068102601 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006890068102601[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004759879720817 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004759879720817[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007451262904589 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007451262904589[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004573946627917 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004573946627917[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309889939270 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309889939270[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007680933900962 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007680933900962[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973590490870 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973590490870[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193978272872 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002193978272872[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010189133415420 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010189133415420[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440796124569 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440796124569[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152570996041 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152570996041[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000843295203213 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000843295203213[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259345262944 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005259345262944[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001775900750827 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001775900750827[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353890731664 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004353890731664[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003961943588956 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003961943588956[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006402362679 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005006402362679[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001668604041980 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001668604041980[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803396836788 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003803396836788[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000921078087520 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000921078087520[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098640254741 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098640254741[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322642333890 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001322642333890[0m ×2 + 15.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008272113139242 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008272113139242[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003162482273210 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003162482273210[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513877128080 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004513877128080[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003748020959485 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003748020959485[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349170056907 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349170056907[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000696869318578 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000696869318578[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007385476697668 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007385476697668[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001853828461284 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001853828461284[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596811294722 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596811294722[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002407714663215 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002407714663215[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824395536878 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824395536878[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001267672759497 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001267672759497[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923297265462 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004923297265462[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426635294987 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426635294987[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006863210875696 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006863210875696[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001364592792971 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001364592792971[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969566420439 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004969566420439[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002567957569585 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002567957569585[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111926879636 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003111926879636[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000516537865842 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000516537865842[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833655471042 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833655471042[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001838491218411 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001838491218411[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952710 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952710 ms (missed cycles : 3).[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477650426836 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477650426836[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002478533926525 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002478533926525[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713250242806 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003713250242806[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001429316323014 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001429316323014[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383258869640 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383258869640[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004041683400478 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004041683400478[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035142371666 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035142371666[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002137401303008 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002137401303008[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398618028513 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398618028513[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247426932496 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247426932496[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972782450427 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972782450427[0m ×2 + 15.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885684947618 + 15.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885684947618[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526750152946 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526750152946[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093204944080 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093204944080[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106565318813 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106565318813[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001263227705767 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001263227705767[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515271550188 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515271550188[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001404405263072 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001404405263072[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577291010299 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001577291010299[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000993112162988 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000993112162988[0m ×2 + 16.00sWARNcontroller_managerOverrun might occur, Total time : 2188.400 us (Expected < 1666.667 us) --> Read time : 228.965 us, Update time : 946.642 us, Write time : 1012.793 us + 16.00sWARNros2_control_nodeOverrun might occur, Total time : 2188.400 us (Expected < 1666.667 us) --> Read time : 228.965 us, Update time : 946.642 us, Write time : 1012.793 us[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002309036214657 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002309036214657[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001412104534352 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001412104534352[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500957391293 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001500957391293[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001071575225041 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001071575225041[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887725515931 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887725515931[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001693494044789 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001693494044789[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845825022126 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845825022126[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000602960113744 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000602960113744[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075162449499 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002075162449499[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000717991174164 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000717991174164[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703490549105 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001703490549105[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000727259440633 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000727259440633[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002020761397910 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002020761397910[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001485570018369 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001485570018369[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611376031834 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000611376031834[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001124299427812 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001124299427812[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837978404617 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837978404617[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001308475967904 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001308475967904[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594531768186 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594531768186[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000824388418371 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000824388418371[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001061504254404 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001061504254404[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000802313367160 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000802313367160[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001218964350071 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001218964350071[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000971776012089 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000971776012089[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186108726865 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002186108726865[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000125409370797 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000125409370797[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022733297033 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002022733297033[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137892419915 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137892419915[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183203613100 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183203613100[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115530828587 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115530828587[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001125670767764 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001125670767764[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000785972433154 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000785972433154[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712527354990 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712527354990[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001419455662879 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001419455662879[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000739215476987 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000739215476987[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000516955430892 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000516955430892[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001192110939011 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001192110939011[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000314583268653 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000314583268653[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807290588470 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807290588470[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001049374866800 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001049374866800[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974100404697 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000974100404697[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074768733663 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074768733663[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708138081769 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001708138081769[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000675958090124 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000675958090124[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000557017108841 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000557017108841[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000626865714002 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000626865714002[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000615426439254 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000615426439254[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001094549395528 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001094549395528[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283827209634 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001283827209634[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443250813690 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443250813690[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495270332109 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001495270332109[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093097653692 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093097653692[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526308238523 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526308238523[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001541583457658 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001541583457658[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000134189950267 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000134189950267[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000622470592258 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000622470592258[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593184630688 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000593184630688[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000481133974939 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000481133974939[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000755881054424 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000755881054424[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181579703184 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181579703184[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925817755473 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000925817755473[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000351252412344 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000351252412344[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843995685123 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843995685123[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467086958243 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467086958243[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000825093766484 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000825093766484[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000549282429262 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000549282429262[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410592579054 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000410592579054[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000662826139661 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000662826139661[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000476514483325 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000476514483325[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387746552074 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387746552074[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944804073923 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000944804073923[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000734514252260 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000734514252260[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000329259482159 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000329259482159[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000211228577541 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000211228577541[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000685943815437 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000685943815437[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468279189765 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468279189765[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000561273829104 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000561273829104[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000480460609659 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000480460609659[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000277802910537 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000277802910537[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000558884649193 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000558884649193[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000528084000866 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000528084000866[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000507027283439 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000507027283439[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000226800350183 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000226800350183[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000447879747928 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000447879747928[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229644 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.229644 ms (missed cycles : 4).[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319514941877 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319514941877[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000708969847014 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000708969847014[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771134974223 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771134974223[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121051571572 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121051571572[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000454989260647 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000454989260647[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236039291635 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000236039291635[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000298569295018 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000298569295018[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347994062859 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347994062859[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000382940987110 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000382940987110[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350552555982 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350552555982[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000249106079579 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000249106079579[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000430935407269 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000430935407269[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666942539593 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000666942539593[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002002730939 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002002730939[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605941878022 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000605941878022[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175653038373 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175653038373[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756247375802 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000756247375802[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303364018409 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000303364018409[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228456126910 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228456126910[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000457307985176 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000457307985176[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015544825096 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015544825096[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000726789775986 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000726789775986[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735990937272 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000735990937272[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081210774990 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081210774990[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335293792042 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000335293792042[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000249201526250 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000249201526250[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000347453266451 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000347453266451[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096983178500 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096983178500[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416861013214 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416861013214[0m ×2 + 17.06sWARNcontroller_managerOverrun might occur, Total time : 10680.992 us (Expected < 1666.667 us) --> Read time : 223.615 us, Update time : 63.291 us, Write time : 10394.086 us + 17.06sWARNros2_control_nodeOverrun might occur, Total time : 10680.992 us (Expected < 1666.667 us) --> Read time : 223.615 us, Update time : 63.291 us, Write time : 10394.086 us[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250946793344 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250946793344[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571038449767 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571038449767[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015052165776 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015052165776[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272257731769 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272257731769[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000474575163362 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000474575163362[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480575907289 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480575907289[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152960323857 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152960323857[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185657829222 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185657829222[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000262507590174 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000262507590174[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239564762380 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239564762380[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000281139975177 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000281139975177[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152128334581 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152128334581[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350915454218 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350915454218[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000271579100405 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000271579100405[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097553921438 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097553921438[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000283550524390 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000283550524390[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123133188287 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123133188287[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000250211861674 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000250211861674[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060876024332 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060876024332[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000294401899138 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000294401899138[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147519226552 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147519226552[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285224706821 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000285224706821[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072526563779 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072526563779[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000261633421327 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000261633421327[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066146249385 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000066146249385[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000226128753438 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000226128753438[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142261437207 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142261437207[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000321346522739 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000321346522739[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132249468886 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132249468886[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114086458984 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000114086458984[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000227527315447 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000227527315447[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275449814369 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275449814369[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071146210259 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071146210259[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152895436286 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152895436286[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174741605578 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000174741605578[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000296231007726 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000296231007726[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050559396644 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050559396644[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130925274662 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130925274662[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304637494021 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304637494021[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293576144125 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293576144125[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055105992360 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055105992360[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339934282243 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339934282243[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219037691738 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000219037691738[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118241068888 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118241068888[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121728819115 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121728819115[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161165334473 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161165334473[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064052683051 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000064052683051[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217511314299 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217511314299[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118546163934 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118546163934[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225156028705 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225156028705[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060484198781 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060484198781[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137802800931 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137802800931[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147127009339 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147127009339[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032159760630 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032159760630[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288127917942 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288127917942[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222884916986 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077360752683 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000222884916986[0m ×2 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077360752683[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141842329405 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141842329405[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109223705231 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109223705231[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156210949903 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156210949903[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143312985270 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000143312985270[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101513391179 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101513391179[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076890975150 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076890975150[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000165496005824 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000165496005824[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011160027937 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011160027937[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292377025504 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292377025504[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156213316134 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156213316134[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064183587802 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064183587802[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183817376878 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183817376878[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079629687184 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079629687184[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092333437847 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092333437847[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103543741760 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103543741760[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074710285936 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074710285936[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070371384593 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070371384593[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108139459282 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000108139459282[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104953982014 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104953982014[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115758294945 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115758294945[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069789089528 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000069789089528[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086168925711 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086168925711[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245641 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245641 ms (missed cycles : 2).[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123643863031 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123643863031[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004855963580 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004855963580[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144355858221 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144355858221[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057884825503 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057884825503[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129115608858 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129115608858[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031050658247 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031050658247[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154414268311 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000154414268311[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083313918006 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083313918006[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058852902363 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000058852902363[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088968986602 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088968986602[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070975797008 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070975797008[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080750832862 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080750832862[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095767972568 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095767972568[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038254317986 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038254317986[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156695586641 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000156695586641[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001672858910 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001672858910[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141010880052 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000141010880052[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036372889733 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036372889733[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000189410255400 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000189410255400[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089609416452 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089609416452[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060666010897 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000060666010897[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058366433513 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058366433513[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116543258752 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116543258752[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133701746824 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133701746824[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043993572313 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043993572313[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069649625318 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069649625318[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081799141345 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081799141345[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073060847308 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073060847308[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051725660962 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051725660962[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092944823311 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092944823311[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028461262389 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028461262389[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095129780003 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095129780003[0m ×2 + 18.09sWARNcontroller_managerOverrun might occur, Total time : 4006.091 us (Expected < 1666.667 us) --> Read time : 348.428 us, Update time : 88.162 us, Write time : 3569.501 us + 18.09sWARNros2_control_nodeOverrun might occur, Total time : 4006.091 us (Expected < 1666.667 us) --> Read time : 348.428 us, Update time : 88.162 us, Write time : 3569.501 us[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080206636034 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000080206636034[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035313760701 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035313760701[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103890111177 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103890111177[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019421155004 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019421155004[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163442766948 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163442766948[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081052827415 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081052827415[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015935195301 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015935195301[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078638110062 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078638110062[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055126311943 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055126311943[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068998403341 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068998403341[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028375795035 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028375795035[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075993317678 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075993317678[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003344678260 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003344678260[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116823931617 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116823931617[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081160855418 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000081160855418[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031608736317 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031608736317[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054305437700 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054305437700[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042883023609 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042883023609[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061375836443 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061375836443[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057581196261 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057581196261[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071178547979 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071178547979[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029819858749 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029819858749[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091233285330 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091233285330[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009666342994 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009666342994[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047993660659 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047993660659[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045453044283 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045453044283[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086926231041 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000086926231041[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031391408884 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031391408884[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085582525009 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085582525009[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073917427127 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073917427127[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006788024279 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006788024279[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056223349466 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056223349466[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031850388066 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031850388066[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032946951048 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032946951048[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059779207695 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000059779207695[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042831307820 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042831307820[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026962367271 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026962367271[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043586589350 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043586589350[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052507729212 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052507729212[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037102721312 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037102721312[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057172157545 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057172157545[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018060685198 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018060685198[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070990628929 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070990628929[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005362232390 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005362232390[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037171092176 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037171092176[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067913308839 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067913308839[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095354270501 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000095354270501[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019511201745 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019511201745[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075038629899 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075038629899[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033245602675 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033245602675[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023141070015 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023141070015[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023155223348 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023155223348[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045681575561 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045681575561[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052801467979 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052801467979[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017045750404 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017045750404[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028219558745 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028219558745[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045030044918 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045030044918[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056485210287 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056485210287[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019969108059 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019969108059[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028423296050 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028423296050[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013910029447 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013910029447[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032313421583 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032313421583[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035354802466 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035354802466[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017513673478 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017513673478[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025014217257 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025014217257[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030744867372 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030744867372[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023025459046 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023025459046[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041245001180 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041245001180[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028469487242 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000028469487242[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012647329804 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012647329804[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023607828094 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023607828094[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027468609820 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027468609820[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033070151271 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033070151271[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007964417648 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007964417648[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039435224013 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039435224013[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003119705067 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003119705067[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038836381950 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038836381950[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008933438238 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008933438238[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056320582586 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056320582586[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027183483046 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027183483046[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018828258276 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018828258276[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007989532958 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007989532958[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130766 ms (missed cycles : 3). + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050370761313 + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130766 ms (missed cycles : 3).[0m ×2 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000050370761313[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052157615705 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052157615705[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008537476763 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008537476763[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043334005085 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043334005085[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038844932057 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038844932057[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005191699939 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005191699939[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042921224709 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042921224709[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020225104799 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020225104799[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015814845670 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015814845670[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005107085968 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005107085968[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041549581232 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041549581232[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026739750162 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026739750162[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015999151168 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015999151168[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008040951013 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008040951013[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024014927056 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024014927056[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014202364308 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014202364308[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015663083338 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015663083338[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020762943356 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020762943356[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016161626079 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016161626079[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007638628439 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007638628439[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036984343786 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036984343786[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008265963506 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008265963506[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022558079857 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022558079857[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006880843833 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006880843833[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020791804312 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020791804312[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003178207254 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003178207254[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025090135806 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025090135806[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012204648520 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012204648520[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009943789155 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009943789155[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018680774564 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018680774564[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009814179941 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009814179941[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015406660002 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015406660002[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007155269200 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007155269200[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021294292777 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021294292777[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014300785922 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014300785922[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006513943853 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006513943853[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016068668626 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016068668626[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008025101304 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008025101304[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015950338157 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015950338157[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012035997710 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012035997710[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010144922815 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010144922815[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020285278581 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020285278581[0m ×2 + 19.26sWARNcontroller_managerOverrun might occur, Total time : 1668.958 us (Expected < 1666.667 us) --> Read time : 409.649 us, Update time : 48.901 us, Write time : 1210.408 us + 19.27sWARNros2_control_nodeOverrun might occur, Total time : 1668.958 us (Expected < 1666.667 us) --> Read time : 409.649 us, Update time : 48.901 us, Write time : 1210.408 us[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003487480547 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003487480547[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019587611827 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019587611827[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007419681054 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007419681054[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013620610391 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013620610391[0m ×2 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013587548335 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013587548335[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006832624586 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006832624586[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018962960358 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018962960358[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001405757900 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001405757900[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019933670376 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019933670376[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004487542056 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004487542056[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012643725407 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012643725407[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010536234110 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010536234110[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011472007490 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011472007490[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013219162362 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013219162362[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008970556419 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008970556419[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012652682440 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012652682440[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006270351403 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006270351403[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015964541855 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015964541855[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012362200047 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012362200047[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005233015388 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005233015388[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007719489929 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007719489929[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017660280474 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017660280474[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017778351085 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017778351085[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006138529668 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006138529668[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007207131571 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007207131571[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010597937977 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010597937977[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009911033991 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009911033991[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012388471594 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012388471594[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020390140543 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020390140543[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001785263412 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001785263412[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016095471021 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016095471021[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012123112785 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012123112785[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004976062815 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004976062815[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004588937472 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004588937472[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012269989669 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012269989669[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006337866469 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006337866469[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012150300895 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012150300895[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009439267325 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009439267325[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004820508496 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004820508496[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005258649954 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005258649954[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010710012131 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010710012131[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011660456026 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011660456026[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004598285484 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004598285484[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006093519510 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006093519510[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008115044492 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008115044492[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006773751830 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006773751830[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010685287043 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010685287043[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003619202367 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003619202367[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006988226862 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006988226862[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008204867500 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008204867500[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005909542553 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005909542553[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004347522883 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004347522883[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009061176833 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009061176833[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006909308599 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006909308599[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010008551603 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010008551603[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006048677692 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006048677692[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004318417561 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004318417561[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006337774014 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006337774014[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006085788819 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006085788819[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007368908092 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007368908092[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004123476076 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004123476076[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009838390509 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009838390509[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007572871515 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007572871515[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003402872706 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003402872706[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002920201804 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002920201804[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010791926932 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010791926932[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013287125163 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013287125163[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004366658866 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004366658866[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009782874470 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009782874470[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002893387577 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002893387577[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007816239777 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007816239777[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001427864045 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001427864045[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736870 ms (missed cycles : 3). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736870 ms (missed cycles : 3).[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008881307331 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008881307331[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006979361558 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006979361558[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002593669900 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002593669900[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007463250892 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007463250892[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004746093160 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004746093160[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004188710425 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004188710425[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007401064786 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007401064786[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001348143670 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001348143670[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008283648006 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008283648006[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002365545885 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002365545885[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005257023928 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005257023928[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004914053360 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004914053360[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006142006520 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006142006520[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002921685396 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002921685396[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003740955534 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003740955534[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005669708277 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005669708277[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003272755771 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003272755771[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003113957997 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003113957997[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005372408068 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005372408068[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004524641993 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004524641993[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003705638884 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003705638884[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002520075542 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002520075542[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006972302884 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006972302884[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004435002720 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004435002720[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005415078705 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005415078705[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005351742479 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005351742479[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005868977028 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005868977028[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003737827712 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003737827712[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004889232266 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004889232266[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004519518804 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004519518804[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003130023153 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003130023153[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005935726454 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005935726454[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001487174523 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001487174523[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002308585802 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002308585802[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007948485461 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007948485461[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005824240829 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005824240829[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125084199 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000125084199[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006272346282 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006272346282[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004802505222 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004802505222[0m ×2 + 20.33sWARNcontroller_managerOverrun might occur, Total time : 2197.690 us (Expected < 1666.667 us) --> Read time : 262.006 us, Update time : 77.732 us, Write time : 1857.952 us + 20.33sWARNros2_control_nodeOverrun might occur, Total time : 2197.690 us (Expected < 1666.667 us) --> Read time : 262.006 us, Update time : 77.732 us, Write time : 1857.952 us[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001699615664 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001699615664[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004443121991 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004443121991[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002634426013 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002634426013[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004294370212 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004294370212[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001065800146 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001065800146[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004832883266 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004832883266[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000777096996 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000777096996[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007775433131 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007775433131[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004067992487 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004067992487[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002658562764 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002658562764[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001240385313 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001240385313[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003672779451 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003672779451[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002386745368 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002386745368[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003974790637 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003974790637[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001317644724 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001317644724[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002464078798 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002464078798[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003109707379 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003109707379[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002040976599 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002040976599[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002836148053 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002836148053[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002972777089 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002972777089[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003272824643 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003272824643[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003738648946 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003738648946[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000765187601 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000765187601[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004848875447 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004848875447[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525833867 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000525833867[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003375530046 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003375530046[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000233374773 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000233374773[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003968399581 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003968399581[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000017194582823 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000017194582823[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004098253352 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004098253352[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788434536 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788434536[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003693364303 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003693364303[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002886994345 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002886994345[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392383957 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001392383957[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001656994560 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001656994560[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004868439906 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004868439906[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001519786020 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001519786020[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002976817361 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002976817361[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001167329140 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001167329140[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002895351362 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002895351362[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001954182231 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001954182231[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001999689849 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001999689849[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000861633033 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000861633033[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003261899077 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003261899077[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002763481631 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002763481631[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001307469309 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001307469309[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000922750886 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000922750886[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002233515676 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002233515676[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001416296382 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001416296382[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002578299603 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002578299603[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001955041018 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001955041018[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001674435367 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001674435367[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002685365155 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002685365155[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002682765361 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002682765361[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000829271233 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000829271233[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002477743736 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002477743736[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000392816865 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000392816865[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002991849099 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002991849099[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001500511922 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001500511922[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001158821610 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001158821610[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001664105876 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001664105876[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001376349013 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001376349013[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001644313637 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001644313637[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001859640569 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001859640569[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000523286642 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000523286642[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002289488864 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002289488864[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000706194290 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000706194290[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001471052396 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001471052396[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001396128113 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.826123 ms (missed cycles : 6). + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001396128113[0m ×2 + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.826123 ms (missed cycles : 6).[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001777747460 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001777747460[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002348017573 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002348017573[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001429572337 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001429572337[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001318649779 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001318649779[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002311491894 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002311491894[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002754786905 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002754786905[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272740682 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000272740682[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002309701878 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002309701878[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002422864034 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002422864034[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000334649555 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000334649555[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001388425172 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001388425172[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000961817563 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000961817563[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001419914025 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001419914025[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001443201837 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001443201837[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000940859424 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000940859424[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000859040330 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000859040330[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001605963137 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001605963137[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000775240832 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000775240832[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001496750172 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001496750172[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001193459080 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001193459080[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573120619 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000573120619[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001212457295 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001212457295[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782289235 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782289235[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001077052190 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001077052190[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001151353678 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001151353678[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001241930916 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001241930916[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000798179584 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000798179584[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000688709129 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000688709129[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001696049584 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001696049584[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530058023 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530058023[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001432683089 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001432683089[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001001632365 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001001632365[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000536090211 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000536090211[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001353917257 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001353917257[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006577694357 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006577694357[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002224327297 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002224327297[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001470877593 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001470877593[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006875017537 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000006875017537[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001794965022 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001794965022[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000938553657 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000938553657[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673319993 + 21.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673319993[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000582566057 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000582566057[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001934156080 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001934156080[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001504234002 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001504234002[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008860662480 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008860662480[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001148635606 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001148635606[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000766275972 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000766275972[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001025368720 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001025368720[0m ×2 + 21.42sWARNcontroller_managerOverrun might occur, Total time : 2555.097 us (Expected < 1666.667 us) --> Read time : 220.615 us, Update time : 1821.501 us, Write time : 512.981 us + 21.43sWARNros2_control_nodeOverrun might occur, Total time : 2555.097 us (Expected < 1666.667 us) --> Read time : 220.615 us, Update time : 1821.501 us, Write time : 512.981 us[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000512765018 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000512765018[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001509967362 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001509967362[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000218665215 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000218665215[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000711390146 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000711390146[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000758839035 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000758839035[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364545396 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364545396[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001199005091 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001199005091[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000655683403 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000655683403[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000798233951 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000798233951[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000988269823 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000988269823[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000377545472 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000377545472[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000500010916 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000500010916[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000693304825 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000693304825[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000252156176 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000252156176[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001005584945 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001005584945[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535835859 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535835859[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000664652670 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000664652670[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817690931 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817690931[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303583249 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303583249[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000418934319 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000418934319[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000775373272 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000775373272[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000866684531 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000866684531[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000601293030 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000601293030[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000561997339 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000561997339[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001142071009 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001142071009[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000536792960 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000536792960[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476454665 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476454665[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000560487449 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000560487449[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000686575364 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000686575364[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000652043804 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000652043804[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000295630318 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000295630318[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213915774 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213915774[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001072334414 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001072334414[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000720630626 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000720630626[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004909482470 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004909482470[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000551610232 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000551610232[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000425225450 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000425225450[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000506622145 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000506622145[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440045489 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440045489[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000186989952 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000186989952[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000980325046 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000980325046[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000668665057 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000668665057[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389628963 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389628963[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000385215139 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000385215139[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000264069828 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000264069828[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000486047859 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000486047859[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000525481184 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000525481184[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000520612432 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000520612432[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000343690734 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000343690734[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000665484579 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000665484579[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000179885595 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000179885595[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000324446186 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000324446186[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000532768222 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000532768222[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000637006286 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000637006286[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000253782632 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000253782632[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000219551320 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000219551320[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807036 ms (missed cycles : 2). + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000655129471 + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807036 ms (missed cycles : 2).[0m ×2 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000655129471[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000323074476 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000323074476[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000275623897 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000275623897[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189034375 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000189034375[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000513652010 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000513652010[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000491561179 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000491561179[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216095741 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216095741[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000265259111 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000265259111[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000505778707 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000505778707[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000747381980 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000747381980[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156826515 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156826515[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000366353316 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000366353316[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000412700431 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000412700431[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000377011030 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000377011030[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204211531 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204211531[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000188666940 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000188666940[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000677288031 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000677288031[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002380128460 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002380128460[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353806189 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000353806189[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000534690774 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000534690774[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000313810195 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000313810195[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000585204632 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000585204632[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002593650764 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002593650764[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425344457 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000425344457[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001795744307 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001795744307[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162371641 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162371641[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000571289075 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000571289075[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002232099296 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002232099296[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255006276 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255006276[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000182172266 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000182172266[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364005393 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364005393[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002421252458 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002421252458[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170827849 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170827849[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000302658643 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000302658643[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002515223274 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002515223274[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000294107078 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000294107078[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388153850 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388153850[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001650545138 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001650545138[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000422390194 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000422390194[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142259289 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142259289[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165378348 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165378348[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001353866544 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001353866544[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285615142 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285615142[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001910326448 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001910326448[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286909533 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286909533[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000211438018 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000211438018[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171068713 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171068713[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000269245345 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000269245345[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371453851 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371453851[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255600132 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255600132[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195501057 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195501057[0m ×2 + 22.44sWARNcontroller_managerOverrun might occur, Total time : 3072.120 us (Expected < 1666.667 us) --> Read time : 277.786 us, Update time : 104.173 us, Write time : 2690.161 us + 22.44sWARNros2_control_nodeOverrun might occur, Total time : 3072.120 us (Expected < 1666.667 us) --> Read time : 277.786 us, Update time : 104.173 us, Write time : 2690.161 us[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153170021 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153170021[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000203022814 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000203022814[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000845170753 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000845170753[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000406438796 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000406438796[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152996319 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152996319[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001243959243 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001243959243[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000297617951 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000297617951[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001483277443 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001483277443[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140677386 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140677386[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231461995 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231461995[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001303623396 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001303623396[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143900741 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143900741[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214943868 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214943868[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001712684799 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001712684799[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001427313369 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001427313369[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216820920 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216820920[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517823614 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517823614[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001584490030 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001584490030[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000276270103 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000276270103[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001386915690 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001386915690[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142672992 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142672992[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214405434 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214405434[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001475084103 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001475084103[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144349262 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144349262[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204409848 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204409848[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001680719574 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001680719574[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385417456 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385417456[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000208023835 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000208023835[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001774343806 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001774343806[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001144812935 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001144812935[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121117641 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121117641[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130696724 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130696724[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001013762036 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001013762036[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001019952743 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001019952743[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001041501582 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001041501582[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000950086873 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000950086873[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164169189 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164169189[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000872446755 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000872446755[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000927224009 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000927224009[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001294236529 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001294236529[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000809181004 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000809181004[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000699040096 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000699040096[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001210391464 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001210391464[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000969611273 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000969611273[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000796815934 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000796815934[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156252842 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156252842[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001098424442 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001098424442[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000899840067 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000899840067[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860539189 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860539189[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000876567662 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000876567662[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000695256255 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000695256255[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558941728 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558941728[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450233514 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450233514[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371768176 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371768176[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000426366614 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000426366614[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000783280072 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000783280072[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627263798 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627263798[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501071161 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501071161[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501630662 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501630662[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398404802 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398404802[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000316484939 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000316484939[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000251454852 ×2 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000251454852[0m ×4 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000199817633 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000199817633[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000158803862 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000158803862[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000126220036 ×2 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000126220036[0m ×4 + 23.06sINFOjoint_trajectory_controllerAccepted new action goal ×295 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102078 ms (missed cycles : 5). + 23.07sINFOros2_control_nodeAccepted new action goal[0m ×590 + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102078 ms (missed cycles : 5).[0m ×2 + 23.49sWARNcontroller_managerOverrun might occur, Total time : 4077.822 us (Expected < 1666.667 us) --> Read time : 280.596 us, Update time : 3194.522 us, Write time : 602.704 us + 23.50sWARNros2_control_nodeOverrun might occur, Total time : 4077.822 us (Expected < 1666.667 us) --> Read time : 280.596 us, Update time : 3194.522 us, Write time : 602.704 us[0m ×2 + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842874 ms (missed cycles : 3). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842874 ms (missed cycles : 3).[0m ×2 + 24.55sWARNcontroller_managerOverrun might occur, Total time : 5693.320 us (Expected < 1666.667 us) --> Read time : 251.356 us, Update time : 81.032 us, Write time : 5360.932 us + 24.56sWARNros2_control_nodeOverrun might occur, Total time : 5693.320 us (Expected < 1666.667 us) --> Read time : 251.356 us, Update time : 81.032 us, Write time : 5360.932 us[0m ×2 + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887854 ms (missed cycles : 3). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887854 ms (missed cycles : 3).[0m ×2 + 25.70sWARNcontroller_managerOverrun might occur, Total time : 5356.972 us (Expected < 1666.667 us) --> Read time : 291.367 us, Update time : 4546.083 us, Write time : 519.522 us + 25.71sWARNros2_control_nodeOverrun might occur, Total time : 5356.972 us (Expected < 1666.667 us) --> Read time : 291.367 us, Update time : 4546.083 us, Write time : 519.522 us[0m ×2 + 25.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781205654.25452590 seconds ×3 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017202 ms (missed cycles : 2). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017202 ms (missed cycles : 2).[0m ×2 + 26.51sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781205654.89096022 seconds. ×3 + 26.68sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 26.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.69sINFOros2_control_node[2026-06-11 19:20:55.075] [info] Received new action goal ×2 + 26.69sINFOros2_control_node[2026-06-11 19:20:55.075] [info] Accepted new action goal ×2 + 26.73sWARNcontroller_managerOverrun might occur, Total time : 2291.972 us (Expected < 1666.667 us) --> Read time : 231.585 us, Update time : 93.262 us, Write time : 1967.125 us + 26.73sWARNros2_control_nodeOverrun might occur, Total time : 2291.972 us (Expected < 1666.667 us) --> Read time : 231.585 us, Update time : 93.262 us, Write time : 1967.125 us[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333273 ms (missed cycles : 7). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333273 ms (missed cycles : 7).[0m ×2 + 27.74sWARNcontroller_managerOverrun might occur, Total time : 2450.185 us (Expected < 1666.667 us) --> Read time : 264.866 us, Update time : 1410.122 us, Write time : 775.197 us + 27.74sWARNros2_control_nodeOverrun might occur, Total time : 2450.185 us (Expected < 1666.667 us) --> Read time : 264.866 us, Update time : 1410.122 us, Write time : 775.197 us[0m ×2 + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615585 ms (missed cycles : 3). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615585 ms (missed cycles : 3).[0m ×2 + 28.81sWARNcontroller_managerOverrun might occur, Total time : 3569.731 us (Expected < 1666.667 us) --> Read time : 234.855 us, Update time : 280.977 us, Write time : 3053.899 us + 28.81sWARNros2_control_nodeOverrun might occur, Total time : 3569.731 us (Expected < 1666.667 us) --> Read time : 234.855 us, Update time : 280.977 us, Write time : 3053.899 us[0m ×2 + 29.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 29.03sINFOros2_control_node[2026-06-11 19:20:57.414] [info] Received new action goal ×2 + 29.03sINFOros2_control_node[2026-06-11 19:20:57.414] [info] Accepted new action goal ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	11.9s	3 errors · 108 warnings · 173 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.600684 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.600684 ms (missed cycles : 9).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072924 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072924 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 2233.332 us (Expected < 1666.667 us) --> Read time : 204.535 us, Update time : 1575.046 us, Write time : 453.751 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 2233.332 us (Expected < 1666.667 us) --> Read time : 204.535 us, Update time : 1575.046 us, Write time : 453.751 us[0m ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.98sINFOobjective_server_nodeFound path in 5 iterations (0.00698221 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.07sINFOros2_control_node[2026-06-11 19:18:28.596] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-06-11 19:18:28.596] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727253 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727253 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1926.734 us (Expected < 1666.667 us) --> Read time : 232.275 us, Update time : 80.202 us, Write time : 1614.257 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1926.734 us (Expected < 1666.667 us) --> Read time : 232.275 us, Update time : 80.202 us, Write time : 1614.257 us[0m ×2 + 2.47sINFOros2_control_node[2026-06-11 19:18:28.998] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:18:28.998] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355314 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355314 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun might occur, Total time : 3191.313 us (Expected < 1666.667 us) --> Read time : 283.597 us, Update time : 2442.626 us, Write time : 465.090 us + 3.13sWARNros2_control_nodeOverrun might occur, Total time : 3191.313 us (Expected < 1666.667 us) --> Read time : 283.597 us, Update time : 2442.626 us, Write time : 465.090 us[0m ×2 + 3.36sINFOros2_control_node[2026-06-11 19:18:29.891] [info] Got request to cancel active goal. ×2 + 3.36sINFOros2_control_node[2026-06-11 19:18:29.891] [info] Canceling active goal... ×2 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781205509.93903923 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781205510.62462807 seconds. ×3 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 1711.949 us (Expected < 1666.667 us) --> Read time : 1044.214 us, Update time : 73.812 us, Write time : 593.923 us + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905127 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 1711.949 us (Expected < 1666.667 us) --> Read time : 1044.214 us, Update time : 73.812 us, Write time : 593.923 us[0m ×2 + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905127 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-06-11 19:18:30.769] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-06-11 19:18:30.769] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277498 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277498 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 2703.412 us (Expected < 1666.667 us) --> Read time : 219.235 us, Update time : 1928.414 us, Write time : 555.763 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2703.412 us (Expected < 1666.667 us) --> Read time : 219.235 us, Update time : 1928.414 us, Write time : 555.763 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264023 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264023 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 2226.881 us (Expected < 1666.667 us) --> Read time : 323.277 us, Update time : 868.060 us, Write time : 1035.544 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 2226.881 us (Expected < 1666.667 us) --> Read time : 323.277 us, Update time : 868.060 us, Write time : 1035.544 us[0m ×2 + 6.73sINFOros2_control_node[2026-06-11 19:18:33.259] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-06-11 19:18:33.259] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.917167 ms (missed cycles : 8). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.917167 ms (missed cycles : 8).[0m ×2 + 7.63sWARNcontroller_managerOverrun might occur, Total time : 5765.752 us (Expected < 1666.667 us) --> Read time : 314.707 us, Update time : 301.087 us, Write time : 5149.958 us + 7.64sWARNros2_control_nodeOverrun might occur, Total time : 5765.752 us (Expected < 1666.667 us) --> Read time : 314.707 us, Update time : 301.087 us, Write time : 5149.958 us[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515047 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515047 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun might occur, Total time : 4438.912 us (Expected < 1666.667 us) --> Read time : 754.737 us, Update time : 60.972 us, Write time : 3623.203 us + 8.65sWARNros2_control_nodeOverrun might occur, Total time : 4438.912 us (Expected < 1666.667 us) --> Read time : 754.737 us, Update time : 60.972 us, Write time : 3623.203 us[0m ×2 + 9.08sINFOros2_control_nodeMuJoCo sim: 1.32% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330097 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.330097 ms (missed cycles : 4).[0m ×2 + 9.66sWARNcontroller_managerOverrun might occur, Total time : 2460.297 us (Expected < 1666.667 us) --> Read time : 269.636 us, Update time : 238.906 us, Write time : 1951.755 us + 9.66sWARNros2_control_nodeOverrun might occur, Total time : 2460.297 us (Expected < 1666.667 us) --> Read time : 269.636 us, Update time : 238.906 us, Write time : 1951.755 us[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280844 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280844 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun might occur, Total time : 4282.789 us (Expected < 1666.667 us) --> Read time : 244.856 us, Update time : 3442.689 us, Write time : 595.244 us + 10.74sWARNros2_control_nodeOverrun might occur, Total time : 4282.789 us (Expected < 1666.667 us) --> Read time : 244.856 us, Update time : 3442.689 us, Write time : 595.244 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216754 ms (missed cycles : 4). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216754 ms (missed cycles : 4).[0m ×2 + 12.01sWARNcontroller_managerOverrun might occur, Total time : 1852.473 us (Expected < 1666.667 us) --> Read time : 264.646 us, Update time : 132.683 us, Write time : 1455.144 us + 12.01sWARNros2_control_nodeOverrun might occur, Total time : 1852.473 us (Expected < 1666.667 us) --> Read time : 264.646 us, Update time : 132.683 us, Write time : 1455.144 us[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4).[0m ×2 + 13.09sWARNcontroller_managerOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us + 13.09sWARNros2_control_nodeOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us + 14.46sWARNros2_control_nodeOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us[0m ×2 + 15.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 15.52sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 15.91sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 15.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.97sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 15.98sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 15.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 16.58sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 16.59sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 16.71sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 16.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 16.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.85sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 16.85sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 17.62sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 17.63sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	11.8s	3 errors · 108 warnings · 204 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us + 6.63sWARNros2_control_nodeOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961263 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961263 ms (missed cycles : 5).[0m ×2 + 7.70sWARNcontroller_managerOverrun might occur, Total time : 2048.206 us (Expected < 1666.667 us) --> Read time : 959.842 us, Update time : 54.801 us, Write time : 1033.563 us + 7.70sWARNros2_control_nodeOverrun might occur, Total time : 2048.206 us (Expected < 1666.667 us) --> Read time : 959.842 us, Update time : 54.801 us, Write time : 1033.563 us[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341965 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341965 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun might occur, Total time : 8413.962 us (Expected < 1666.667 us) --> Read time : 203.064 us, Update time : 7706.287 us, Write time : 504.611 us + 8.80sWARNros2_control_nodeOverrun might occur, Total time : 8413.962 us (Expected < 1666.667 us) --> Read time : 203.064 us, Update time : 7706.287 us, Write time : 504.611 us[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803596 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803596 ms (missed cycles : 2).[0m ×2 + 9.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.21sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 5 iterations (0.00479205 s). ×2 + 9.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 9.68sINFOros2_control_node[2026-06-11 19:17:51.227] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-06-11 19:17:51.227] [info] Accepted new action goal ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920278 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920278 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun might occur, Total time : 6284.244 us (Expected < 1666.667 us) --> Read time : 346.508 us, Update time : 127.433 us, Write time : 5810.303 us + 9.90sWARNros2_control_nodeOverrun might occur, Total time : 6284.244 us (Expected < 1666.667 us) --> Read time : 346.508 us, Update time : 127.433 us, Write time : 5810.303 us[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455139 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455139 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun might occur, Total time : 3974.301 us (Expected < 1666.667 us) --> Read time : 230.375 us, Update time : 3191.043 us, Write time : 552.883 us + 10.94sWARNros2_control_nodeOverrun might occur, Total time : 3974.301 us (Expected < 1666.667 us) --> Read time : 230.375 us, Update time : 3191.043 us, Write time : 552.883 us[0m ×2 + 11.91sINFOros2_control_node[2026-06-11 19:17:53.449] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-06-11 19:17:53.449] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869852 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869852 ms (missed cycles : 2).[0m ×2 + 12.01sWARNcontroller_managerOverrun might occur, Total time : 1997.615 us (Expected < 1666.667 us) --> Read time : 920.531 us, Update time : 86.832 us, Write time : 990.252 us + 12.01sWARNros2_control_nodeOverrun might occur, Total time : 1997.615 us (Expected < 1666.667 us) --> Read time : 920.531 us, Update time : 86.832 us, Write time : 990.252 us[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 13.24sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 13.24sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 13.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.66sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 13.66sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 14.45sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 14.97sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 15.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 15.56sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 15.56sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 15.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 16.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 16.35sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 16.39sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 16.39sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 16.88sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 16.88sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 18.20sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 18.20sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	57 errors · 71 warnings · 356 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 1.06sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 1.06sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 1.31sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 1.31sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 3.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 3.23sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 3.23sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 4.26sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781205774.61517119 seconds ×3 + 5.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2). + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288372 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2).[0m ×2 + 6.13sWARNros2_control_nodeOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us[0m ×2 + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288372 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun might occur, Total time : 3767.955 us (Expected < 1666.667 us) --> Read time : 209.054 us, Update time : 3061.439 us, Write time : 497.462 us + 6.56sWARNros2_control_nodeOverrun might occur, Total time : 3767.955 us (Expected < 1666.667 us) --> Read time : 209.054 us, Update time : 3061.439 us, Write time : 497.462 us[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030501 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030501 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun might occur, Total time : 1985.624 us (Expected < 1666.667 us) --> Read time : 280.366 us, Update time : 1164.586 us, Write time : 540.672 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 1985.624 us (Expected < 1666.667 us) --> Read time : 280.366 us, Update time : 1164.586 us, Write time : 540.672 us[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398749 ms (missed cycles : 5). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398749 ms (missed cycles : 5).[0m ×2 + 8.99sWARNcontroller_managerOverrun might occur, Total time : 10036.645 us (Expected < 1666.667 us) --> Read time : 217.795 us, Update time : 9058.513 us, Write time : 760.337 us + 8.99sWARNros2_control_nodeOverrun might occur, Total time : 10036.645 us (Expected < 1666.667 us) --> Read time : 217.795 us, Update time : 9058.513 us, Write time : 760.337 us[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700595 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700595 ms (missed cycles : 3).[0m ×2 + 10.07sWARNcontroller_managerOverrun might occur, Total time : 9317.199 us (Expected < 1666.667 us) --> Read time : 257.666 us, Update time : 8528.781 us, Write time : 530.752 us + 10.07sWARNros2_control_nodeOverrun might occur, Total time : 9317.199 us (Expected < 1666.667 us) --> Read time : 257.666 us, Update time : 8528.781 us, Write time : 530.752 us[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840901 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840901 ms (missed cycles : 2).[0m ×2 + 11.13sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORweb_bridge-18process[web_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 11.17sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 11.18sINFOweb_bridge-18sending signal 'SIGTERM' to process[web_bridge-18] ×2 + 11.19sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 11.20sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705438 ms (missed cycles : 3). + 11.21sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.22sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.23sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.23sWARNcontroller_managerOverrun might occur, Total time : 1772.560 us (Expected < 1666.667 us) --> Read time : 593.543 us, Update time : 372.349 us, Write time : 806.668 us + 11.24sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.25sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.26sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.27sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.28sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.28sINFOcontroller_managerShutdown request received.... + 11.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.28sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.28sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.28sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.28sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.28sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.28sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.28sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.29sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.29sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.29sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.29sINFOcontroller_managerShutting down the controller manager. + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705438 ms (missed cycles : 3).[0m ×2 + 11.29sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.29sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.29sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.29sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.29sINFOui_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 + 11.29sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.29sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.29sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.29sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.29sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.29sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.29sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.29sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.29sWARNros2_control_nodeOverrun might occur, Total time : 1772.560 us (Expected < 1666.667 us) --> Read time : 593.543 us, Update time : 372.349 us, Write time : 806.668 us[0m ×2 + 11.29sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.29sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.29sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.29sERRORmove_groupStack trace (most recent call last) in thread 9471: ×2 + 11.29sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.29sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.29sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.29sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.29sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.29sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.29sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.29sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.29sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.29sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.29sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.29sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.29sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68ce740a63, in __clone ×2 + 11.29sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68ce6b3aa3, in ×2 + 11.30sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.30sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.30sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.30sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.30sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.30sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.30sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68ce945db3, in ×2 + 11.30sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.30sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f68cef9a19a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.30sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f68cecb84d0, in rclcpp::Rate::sleep() ×2 + 11.30sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f68cec0ba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.30sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f68cebd0a71, in ×2 + 11.30sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68ce914390, in __cxa_throw ×2 + 11.30sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.30sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68ce8fea54, in std::terminate() ×2 + 11.30sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68ce9140d9, in ×2 + 11.30sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f68ce8feff4, in ×2 + 11.30sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68ce63f8fe, in abort ×2 + 11.30sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68ce65c27d, in raise ×2 + 11.30sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f68ce6b5b2c, in pthread_kill ×2 + 11.30sERRORmove_groupAborted (Signal sent by tkill() 9208 0) ×2 + 11.31sERRORmove_group-9process has died [pid 9208, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_9a2a47wd --params-file /tmp/launch_params__7wwm1yu --params-file /tmp/launch_params_da51ujt4 --params-file /tmp/launch_params_zf_bzoic --params-file /tmp/launch_params_eozn16so --params-file /tmp/launch_params_cbrmxgrn --params-file /tmp/launch_params_lieal6my --params-file /tmp/launch_params_wr_tpa90 --params-file /tmp/launch_params_zhxl699h']. ×2 + 11.35sINFOobjective_server_node[0;m[2026-06-11 19:23:00.926] [moveit_pro_license] [info] ×2 + 11.35sINFOobjective_server_node************************************************* ×4 + 11.35sINFOobjective_server_node* MoveIt Pro License ×2 + 11.35sINFOobjective_server_node* Application has successfully terminated ×2 + 11.42sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.42sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.42sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.44sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.46sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.46sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5570507ca6a4, in _start ×2 + 11.46sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3eb27a628a, in __libc_start_main ×2 + 11.46sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3eb27a61d0, in ×2 + 11.46sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3eb27c3bbd, in exit ×2 + 11.46sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3eb27c3a75, in ×2 + 11.46sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f3eb2c954a2, in spdlog::details::registry::~registry() ×2 + 11.46sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f3eb2ca069d, 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 + 11.46sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f3eb2c9a965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.46sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5570507d1315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.46sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5570507d05a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.46sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5570507ccb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.46sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5570507cad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.46sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3eb3318454, in rclcpp::Node::~Node() ×2 + 11.46sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3eb32d3515, in ×2 + 11.46sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3eb3316d20, in ×2 + 11.47sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3eb3316c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.47sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3eb32d35d9, in ×2 + 11.47sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3eb32d8161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.47sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f3e620625c8]) ×2 + 12.23sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9218] ×2 + 12.23sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 12.24sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 12.24sINFOweb_video_server-20process has finished cleanly [pid 9337] ×2 + 12.28sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9212] ×2 + 12.28sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9211] ×2 + 12.32sERRORui_teleop_bridge-17process has died [pid 9216, 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_7icz7ky7']. ×2 + 12.33sINFOexecute_objective_bridge-16process has finished cleanly [pid 9215] ×2 + 12.33sINFOwaypoint_manager_node-11process has finished cleanly [pid 9210] ×2 + 12.34sINFOparameter_manager_node-10process has finished cleanly [pid 9209] ×2 + 12.57sERRORobjective_server_node_main-14process has died [pid 9213, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_r_6lbgqq --params-file /tmp/launch_params_5_jxjysf --params-file /tmp/launch_params_4oib9xvc --params-file /tmp/launch_params_6g20t_on --params-file /tmp/launch_params_t7cx66lr --params-file /tmp/launch_params_umsifbxg']. ×2 + 12.57sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.46sINFOcomponent_container_mt-15process has finished cleanly [pid 9214] ×2 + 13.60sINFOweb_bridge-18process has finished cleanly [pid 9217] ×2 + 13.60sINFOlaunchprocess[web_bridge-18] was required: shutting down launched system ×2 + 14.01sINFOros2_control_node-1process has finished cleanly [pid 9182] ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.3s	102 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669943 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669943 ms (missed cycles : 5).[0m ×2 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 1756.480 us (Expected < 1666.667 us) --> Read time : 212.695 us, Update time : 100.472 us, Write time : 1443.313 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 1756.480 us (Expected < 1666.667 us) --> Read time : 212.695 us, Update time : 100.472 us, Write time : 1443.313 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794159 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794159 ms (missed cycles : 2).[0m ×2 + 1.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.05sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.05sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.06sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 1880.543 us (Expected < 1666.667 us) --> Read time : 255.556 us, Update time : 77.262 us, Write time : 1547.725 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 1880.543 us (Expected < 1666.667 us) --> Read time : 255.556 us, Update time : 77.262 us, Write time : 1547.725 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593242 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593242 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.13sINFOros2_control_node[2026-06-11 19:19:35.118] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-06-11 19:19:35.118] [info] Accepted new action goal ×2 + 2.62sINFOros2_control_nodeMuJoCo sim: 1.57% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.68sWARNcontroller_managerOverrun might occur, Total time : 12541.777 us (Expected < 1666.667 us) --> Read time : 224.955 us, Update time : 11664.577 us, Write time : 652.245 us + 2.68sWARNros2_control_nodeOverrun might occur, Total time : 12541.777 us (Expected < 1666.667 us) --> Read time : 224.955 us, Update time : 11664.577 us, Write time : 652.245 us[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.524632 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.524632 ms (missed cycles : 7).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1781205576.27433157 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.91sWARNcontroller_managerOverrun might occur, Total time : 2335.734 us (Expected < 1666.667 us) --> Read time : 566.763 us, Update time : 68.602 us, Write time : 1700.369 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 2335.734 us (Expected < 1666.667 us) --> Read time : 566.763 us, Update time : 68.602 us, Write time : 1700.369 us[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Push Button` starting at time: 1781205577.00463295 seconds. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306231 ms (missed cycles : 7). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306231 ms (missed cycles : 7).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 4958.394 us (Expected < 1666.667 us) --> Read time : 393.769 us, Update time : 73.822 us, Write time : 4490.803 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 4958.394 us (Expected < 1666.667 us) --> Read time : 393.769 us, Update time : 73.822 us, Write time : 4490.803 us[0m ×2 + 5.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904636 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904636 ms (missed cycles : 5).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.30sINFOros2_control_node[2026-06-11 19:19:38.285] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-06-11 19:19:38.285] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1965.805 us (Expected < 1666.667 us) --> Read time : 512.252 us, Update time : 161.544 us, Write time : 1292.009 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1965.805 us (Expected < 1666.667 us) --> Read time : 512.252 us, Update time : 161.544 us, Write time : 1292.009 us[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214133 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214133 ms (missed cycles : 4).[0m ×2 + 6.96sWARNcontroller_managerOverrun might occur, Total time : 5262.311 us (Expected < 1666.667 us) --> Read time : 248.266 us, Update time : 300.287 us, Write time : 4713.758 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 5262.311 us (Expected < 1666.667 us) --> Read time : 248.266 us, Update time : 300.287 us, Write time : 4713.758 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366940 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366940 ms (missed cycles : 4).[0m ×2 + 7.99sWARNcontroller_managerOverrun might occur, Total time : 2059.567 us (Expected < 1666.667 us) --> Read time : 218.745 us, Update time : 89.632 us, Write time : 1751.190 us + 7.99sWARNros2_control_nodeOverrun might occur, Total time : 2059.567 us (Expected < 1666.667 us) --> Read time : 218.745 us, Update time : 89.632 us, Write time : 1751.190 us[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593056 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593056 ms (missed cycles : 3).[0m ×2 + 8.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.60sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.60sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.61sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.61sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.02sWARNcontroller_managerOverrun might occur, Total time : 2212.761 us (Expected < 1666.667 us) --> Read time : 280.217 us, Update time : 841.339 us, Write time : 1091.205 us + 9.03sWARNros2_control_nodeOverrun might occur, Total time : 2212.761 us (Expected < 1666.667 us) --> Read time : 280.217 us, Update time : 841.339 us, Write time : 1091.205 us[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311685 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.311685 ms (missed cycles : 4).[0m ×2 + 10.15sWARNcontroller_managerOverrun might occur, Total time : 2280.382 us (Expected < 1666.667 us) --> Read time : 934.112 us, Update time : 134.983 us, Write time : 1211.287 us + 10.15sWARNros2_control_nodeOverrun might occur, Total time : 2280.382 us (Expected < 1666.667 us) --> Read time : 934.112 us, Update time : 134.983 us, Write time : 1211.287 us[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032457 ms (missed cycles : 5). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032457 ms (missed cycles : 5).[0m ×2 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 10.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.00sINFOros2_control_node[2026-06-11 19:19:43.985] [info] Received new action goal ×2 + 11.00sINFOros2_control_node[2026-06-11 19:19:43.985] [info] Accepted new action goal ×2 + 11.32sWARNcontroller_managerOverrun might occur, Total time : 2132.709 us (Expected < 1666.667 us) --> Read time : 223.415 us, Update time : 63.032 us, Write time : 1846.262 us + 11.32sWARNros2_control_nodeOverrun might occur, Total time : 2132.709 us (Expected < 1666.667 us) --> Read time : 223.415 us, Update time : 63.032 us, Write time : 1846.262 us[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763640 ms (missed cycles : 6). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763640 ms (missed cycles : 6).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.628806 ms (missed cycles : 6). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.628806 ms (missed cycles : 6).[0m ×2 + 12.54sWARNcontroller_managerOverrun might occur, Total time : 6498.029 us (Expected < 1666.667 us) --> Read time : 5808.763 us, Update time : 103.803 us, Write time : 585.463 us + 12.54sWARNros2_control_nodeOverrun might occur, Total time : 6498.029 us (Expected < 1666.667 us) --> Read time : 5808.763 us, Update time : 103.803 us, Write time : 585.463 us[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075601 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075601 ms (missed cycles : 3).[0m ×2 + 13.64sWARNcontroller_managerOverrun might occur, Total time : 5752.471 us (Expected < 1666.667 us) --> Read time : 306.007 us, Update time : 4965.893 us, Write time : 480.571 us + 13.65sWARNros2_control_nodeOverrun might occur, Total time : 5752.471 us (Expected < 1666.667 us) --> Read time : 306.007 us, Update time : 4965.893 us, Write time : 480.571 us[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557815 ms (missed cycles : 3). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557815 ms (missed cycles : 3).[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781205587.59613180 seconds ×3 + 14.85sWARNcontroller_managerOverrun might occur, Total time : 4265.437 us (Expected < 1666.667 us) --> Read time : 328.457 us, Update time : 3368.337 us, Write time : 568.643 us + 14.85sWARNros2_control_nodeOverrun might occur, Total time : 4265.437 us (Expected < 1666.667 us) --> Read time : 328.457 us, Update time : 3368.337 us, Write time : 568.643 us[0m ×2 + 15.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781205588.23078966 seconds. ×3 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.41sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.41sINFOros2_control_node[2026-06-11 19:19:48.394] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-06-11 19:19:48.394] [info] Accepted new action goal ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072432 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072432 ms (missed cycles : 2).[0m ×2 + 16.08sWARNcontroller_managerOverrun might occur, Total time : 2074.238 us (Expected < 1666.667 us) --> Read time : 214.765 us, Update time : 73.862 us, Write time : 1785.611 us + 16.08sWARNros2_control_nodeOverrun might occur, Total time : 2074.238 us (Expected < 1666.667 us) --> Read time : 214.765 us, Update time : 73.862 us, Write time : 1785.611 us[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150798 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150798 ms (missed cycles : 3).[0m ×2 + 16.68sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.09sWARNcontroller_managerOverrun might occur, Total time : 2205.681 us (Expected < 1666.667 us) --> Read time : 247.466 us, Update time : 868.290 us, Write time : 1089.925 us + 17.09sWARNros2_control_nodeOverrun might occur, Total time : 2205.681 us (Expected < 1666.667 us) --> Read time : 247.466 us, Update time : 868.290 us, Write time : 1089.925 us[0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073788 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073788 ms (missed cycles : 2).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.1s	3 errors · 102 warnings · 175 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2008.126 us (Expected < 1666.667 us) --> Read time : 249.326 us, Update time : 45.011 us, Write time : 1713.789 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2008.126 us (Expected < 1666.667 us) --> Read time : 249.326 us, Update time : 45.011 us, Write time : 1713.789 us[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2298.451 us (Expected < 1666.667 us) --> Read time : 229.235 us, Update time : 77.692 us, Write time : 1991.524 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2298.451 us (Expected < 1666.667 us) --> Read time : 229.235 us, Update time : 77.692 us, Write time : 1991.524 us[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238478 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238478 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1967.994 us (Expected < 1666.667 us) --> Read time : 234.535 us, Update time : 766.517 us, Write time : 966.942 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1967.994 us (Expected < 1666.667 us) --> Read time : 234.535 us, Update time : 766.517 us, Write time : 966.942 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883347 ms (missed cycles : 4). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883347 ms (missed cycles : 4).[0m ×2 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2111.668 us (Expected < 1666.667 us) --> Read time : 273.517 us, Update time : 765.167 us, Write time : 1072.984 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2111.668 us (Expected < 1666.667 us) --> Read time : 273.517 us, Update time : 765.167 us, Write time : 1072.984 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781205747.37213278 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379603 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379603 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781205747.98065448 seconds. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-06-11 19:22:28.105] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-06-11 19:22:28.105] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1814.801 us (Expected < 1666.667 us) --> Read time : 216.965 us, Update time : 92.562 us, Write time : 1505.274 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1814.801 us (Expected < 1666.667 us) --> Read time : 216.965 us, Update time : 92.562 us, Write time : 1505.274 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118080 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118080 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1856.222 us (Expected < 1666.667 us) --> Read time : 788.808 us, Update time : 91.932 us, Write time : 975.482 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 1856.222 us (Expected < 1666.667 us) --> Read time : 788.808 us, Update time : 91.932 us, Write time : 975.482 us[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108975 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108975 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.93sWARNcontroller_managerOverrun might occur, Total time : 9208.647 us (Expected < 1666.667 us) --> Read time : 202.994 us, Update time : 8434.160 us, Write time : 571.493 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 9208.647 us (Expected < 1666.667 us) --> Read time : 202.994 us, Update time : 8434.160 us, Write time : 571.493 us[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797167 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797167 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188233 ms (missed cycles : 7). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.188233 ms (missed cycles : 7).[0m ×2 + 8.35sWARNcontroller_managerOverrun might occur, Total time : 2101.487 us (Expected < 1666.667 us) --> Read time : 244.135 us, Update time : 1376.751 us, Write time : 480.601 us + 8.35sWARNros2_control_nodeOverrun might occur, Total time : 2101.487 us (Expected < 1666.667 us) --> Read time : 244.135 us, Update time : 1376.751 us, Write time : 480.601 us[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134230 ms (missed cycles : 4). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134230 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun might occur, Total time : 2030.505 us (Expected < 1666.667 us) --> Read time : 216.424 us, Update time : 317.188 us, Write time : 1496.893 us + 9.50sWARNros2_control_nodeOverrun might occur, Total time : 2030.505 us (Expected < 1666.667 us) --> Read time : 216.424 us, Update time : 317.188 us, Write time : 1496.893 us[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.121613 ms (missed cycles : 8). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.121613 ms (missed cycles : 8).[0m ×2 + 10.73sWARNcontroller_managerOverrun might occur, Total time : 2003.955 us (Expected < 1666.667 us) --> Read time : 247.495 us, Update time : 263.936 us, Write time : 1492.524 us + 10.73sWARNros2_control_nodeOverrun might occur, Total time : 2003.955 us (Expected < 1666.667 us) --> Read time : 247.495 us, Update time : 263.936 us, Write time : 1492.524 us[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3).[0m ×2 + 11.74sWARNcontroller_managerOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us + 11.74sWARNros2_control_nodeOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us[0m ×2 + 11.97sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 12.76sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 13.96sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 13.96sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 14.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 15.31sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 15.31sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 15.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 15.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.63sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 15.63sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 16.24sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 16.26sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.26sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 16.48sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 16.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 16.98sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 16.99sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.00sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 17.00sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 17.49sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 17.49sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	9 errors · 102 warnings · 167 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2708.983 us (Expected < 1666.667 us) --> Read time : 218.005 us, Update time : 1732.290 us, Write time : 758.688 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2708.983 us (Expected < 1666.667 us) --> Read time : 218.005 us, Update time : 1732.290 us, Write time : 758.688 us[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767830 ms (missed cycles : 5). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767830 ms (missed cycles : 5).[0m ×2 + 0.97sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 1.05sWARNcontroller_managerOverrun might occur, Total time : 2099.038 us (Expected < 1666.667 us) --> Read time : 344.318 us, Update time : 48.691 us, Write time : 1706.029 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 2099.038 us (Expected < 1666.667 us) --> Read time : 344.318 us, Update time : 48.691 us, Write time : 1706.029 us[0m ×2 + 1.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.27sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 1.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1781205497.14534688 seconds ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433998 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433998 ms (missed cycles : 4).[0m ×2 + 2.29sWARNcontroller_managerOverrun might occur, Total time : 6663.133 us (Expected < 1666.667 us) --> Read time : 346.018 us, Update time : 5789.333 us, Write time : 527.782 us + 2.30sWARNros2_control_nodeOverrun might occur, Total time : 6663.133 us (Expected < 1666.667 us) --> Read time : 346.018 us, Update time : 5789.333 us, Write time : 527.782 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836301 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836301 ms (missed cycles : 2).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363336 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363336 ms (missed cycles : 4).[0m ×2 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 5998.348 us (Expected < 1666.667 us) --> Read time : 329.877 us, Update time : 5039.856 us, Write time : 628.615 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 5998.348 us (Expected < 1666.667 us) --> Read time : 329.877 us, Update time : 5039.856 us, Write time : 628.615 us[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781205499.50052619 seconds. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-06-11 19:18:19.734] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-06-11 19:18:19.734] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093266 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093266 ms (missed cycles : 3).[0m ×2 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 3705.845 us (Expected < 1666.667 us) --> Read time : 758.557 us, Update time : 99.732 us, Write time : 2847.556 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 3705.845 us (Expected < 1666.667 us) --> Read time : 758.557 us, Update time : 99.732 us, Write time : 2847.556 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.358112 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.358112 ms (missed cycles : 7).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1958.515 us (Expected < 1666.667 us) --> Read time : 238.126 us, Update time : 73.901 us, Write time : 1646.488 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1958.515 us (Expected < 1666.667 us) --> Read time : 238.126 us, Update time : 73.901 us, Write time : 1646.488 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148777 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148777 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun might occur, Total time : 1853.513 us (Expected < 1666.667 us) --> Read time : 237.696 us, Update time : 51.971 us, Write time : 1563.846 us + 7.21sWARNros2_control_nodeOverrun might occur, Total time : 1853.513 us (Expected < 1666.667 us) --> Read time : 237.696 us, Update time : 51.971 us, Write time : 1563.846 us[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867735 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867735 ms (missed cycles : 3).[0m ×2 + 8.22sWARNcontroller_managerOverrun might occur, Total time : 1919.484 us (Expected < 1666.667 us) --> Read time : 852.299 us, Update time : 82.012 us, Write time : 985.173 us + 8.23sWARNros2_control_nodeOverrun might occur, Total time : 1919.484 us (Expected < 1666.667 us) --> Read time : 852.299 us, Update time : 82.012 us, Write time : 985.173 us[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381775 ms (missed cycles : 5). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381775 ms (missed cycles : 5).[0m ×2 + 9.22sWARNcontroller_managerOverrun might occur, Total time : 1771.661 us (Expected < 1666.667 us) --> Read time : 245.136 us, Update time : 141.813 us, Write time : 1384.712 us + 9.23sWARNros2_control_nodeOverrun might occur, Total time : 1771.661 us (Expected < 1666.667 us) --> Read time : 245.136 us, Update time : 141.813 us, Write time : 1384.712 us[0m ×2 + 9.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×6 + 9.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.62sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588952 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588952 ms (missed cycles : 3).[0m ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.80sINFOobjective_server_nodeFound path in 5 iterations (0.0034345 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 9.87sINFOobjective_server_nodeFound path in 1 iterations (0.00266824 s). ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 10.04sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 10.09sINFOros2_control_node[2026-06-11 19:18:25.961] [info] Received new action goal ×2 + 10.09sINFOros2_control_node[2026-06-11 19:18:25.961] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun might occur, Total time : 3080.900 us (Expected < 1666.667 us) --> Read time : 212.465 us, Update time : 2418.855 us, Write time : 449.580 us + 10.47sWARNros2_control_nodeOverrun might occur, Total time : 3080.900 us (Expected < 1666.667 us) --> Read time : 212.465 us, Update time : 2418.855 us, Write time : 449.580 us[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.600684 ms (missed cycles : 9). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.600684 ms (missed cycles : 9).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072924 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072924 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun might occur, Total time : 2233.332 us (Expected < 1666.667 us) --> Read time : 204.535 us, Update time : 1575.046 us, Write time : 453.751 us + 11.68sWARNros2_control_nodeOverrun might occur, Total time : 2233.332 us (Expected < 1666.667 us) --> Read time : 204.535 us, Update time : 1575.046 us, Write time : 453.751 us[0m ×2 + 12.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 12.54sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 12.55sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.56sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 12.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 12.64sINFOobjective_server_nodeFound path in 5 iterations (0.00698221 s). ×2 + 12.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 12.72sINFOros2_control_node[2026-06-11 19:18:28.596] [info] Received new action goal ×2 + 12.72sINFOros2_control_node[2026-06-11 19:18:28.596] [info] Accepted new action goal ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727253 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727253 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun might occur, Total time : 1926.734 us (Expected < 1666.667 us) --> Read time : 232.275 us, Update time : 80.202 us, Write time : 1614.257 us + 12.77sWARNros2_control_nodeOverrun might occur, Total time : 1926.734 us (Expected < 1666.667 us) --> Read time : 232.275 us, Update time : 80.202 us, Write time : 1614.257 us[0m ×2 + 13.12sINFOros2_control_node[2026-06-11 19:18:28.998] [info] Received new action goal ×2 + 13.12sINFOros2_control_node[2026-06-11 19:18:28.998] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355314 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355314 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun might occur, Total time : 3191.313 us (Expected < 1666.667 us) --> Read time : 283.597 us, Update time : 2442.626 us, Write time : 465.090 us + 13.78sWARNros2_control_nodeOverrun might occur, Total time : 3191.313 us (Expected < 1666.667 us) --> Read time : 283.597 us, Update time : 2442.626 us, Write time : 465.090 us[0m ×2 + 14.02sINFOros2_control_node[2026-06-11 19:18:29.891] [info] Got request to cancel active goal. ×2 + 14.02sINFOros2_control_node[2026-06-11 19:18:29.891] [info] Canceling active goal... ×2 + 14.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781205509.93903923 seconds ×3 + 14.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781205510.62462807 seconds. ×3 + 14.78sWARNcontroller_managerOverrun might occur, Total time : 1711.949 us (Expected < 1666.667 us) --> Read time : 1044.214 us, Update time : 73.812 us, Write time : 593.923 us + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905127 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun might occur, Total time : 1711.949 us (Expected < 1666.667 us) --> Read time : 1044.214 us, Update time : 73.812 us, Write time : 593.923 us[0m ×2 + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905127 ms (missed cycles : 2).[0m ×2 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.89sINFOros2_control_node[2026-06-11 19:18:30.769] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-06-11 19:18:30.769] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277498 ms (missed cycles : 4). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277498 ms (missed cycles : 4).[0m ×2 + 15.83sWARNcontroller_managerOverrun might occur, Total time : 2703.412 us (Expected < 1666.667 us) --> Read time : 219.235 us, Update time : 1928.414 us, Write time : 555.763 us + 15.83sWARNros2_control_nodeOverrun might occur, Total time : 2703.412 us (Expected < 1666.667 us) --> Read time : 219.235 us, Update time : 1928.414 us, Write time : 555.763 us[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264023 ms (missed cycles : 4). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264023 ms (missed cycles : 4).[0m ×2 + 16.95sWARNcontroller_managerOverrun might occur, Total time : 2226.881 us (Expected < 1666.667 us) --> Read time : 323.277 us, Update time : 868.060 us, Write time : 1035.544 us + 16.95sWARNros2_control_nodeOverrun might occur, Total time : 2226.881 us (Expected < 1666.667 us) --> Read time : 323.277 us, Update time : 868.060 us, Write time : 1035.544 us[0m ×2 + 17.38sINFOros2_control_node[2026-06-11 19:18:33.259] [info] Received new action goal ×2 + 17.38sINFOros2_control_node[2026-06-11 19:18:33.259] [info] Accepted new action goal ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	11.0s	6 errors · 105 warnings · 271 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 4.24sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us + 5.75sWARNros2_control_nodeOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636189 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636189 ms (missed cycles : 3).[0m ×2 + 7.09sWARNcontroller_managerOverrun might occur, Total time : 1759.660 us (Expected < 1666.667 us) --> Read time : 226.945 us, Update time : 1057.734 us, Write time : 474.981 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 1759.660 us (Expected < 1666.667 us) --> Read time : 226.945 us, Update time : 1057.734 us, Write time : 474.981 us[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006899 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006899 ms (missed cycles : 5).[0m ×2 + 8.53sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.54sINFOros2_control_node[2026-06-11 19:22:44.940] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-06-11 19:22:44.940] [info] Accepted new action goal ×2 + 8.54sINFOros2_control_node[2026-06-11 19:22:44.940] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.72sWARNcontroller_managerOverrun might occur, Total time : 6045.446 us (Expected < 1666.667 us) --> Read time : 329.227 us, Update time : 5175.357 us, Write time : 540.862 us + 8.72sWARNros2_control_nodeOverrun might occur, Total time : 6045.446 us (Expected < 1666.667 us) --> Read time : 329.227 us, Update time : 5175.357 us, Write time : 540.862 us[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404911 ms (missed cycles : 4). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404911 ms (missed cycles : 4).[0m ×2 + 9.82sWARNcontroller_managerOverrun might occur, Total time : 3976.579 us (Expected < 1666.667 us) --> Read time : 253.426 us, Update time : 3124.450 us, Write time : 598.703 us + 9.82sWARNros2_control_nodeOverrun might occur, Total time : 3976.579 us (Expected < 1666.667 us) --> Read time : 253.426 us, Update time : 3124.450 us, Write time : 598.703 us[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722400 ms (missed cycles : 3). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722400 ms (missed cycles : 3).[0m ×2 + 10.84sWARNcontroller_managerOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us + 10.85sWARNros2_control_nodeOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us + 11.85sWARNros2_control_nodeOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 13.18sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 14.24sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 14.24sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 14.48sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 14.48sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 14.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 15.28sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 15.29sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 16.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 16.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.29sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 16.40sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 16.41sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 16.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 16.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 17.44sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 17.44sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 17.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.9s	3 errors · 99 warnings · 140 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5).[0m ×2 + 2.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781205715.18838882 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781205715.91696882 seconds. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7).[0m ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us + 6.76sWARNros2_control_nodeOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4).[0m ×2 + 7.78sWARNcontroller_managerOverrun might occur, Total time : 2176.388 us (Expected < 1666.667 us) --> Read time : 202.714 us, Update time : 1496.454 us, Write time : 477.220 us + 7.78sWARNros2_control_nodeOverrun might occur, Total time : 2176.388 us (Expected < 1666.667 us) --> Read time : 202.714 us, Update time : 1496.454 us, Write time : 477.220 us[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028938 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028938 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun might occur, Total time : 1861.241 us (Expected < 1666.667 us) --> Read time : 275.626 us, Update time : 1121.905 us, Write time : 463.710 us + 8.80sWARNros2_control_nodeOverrun might occur, Total time : 1861.241 us (Expected < 1666.667 us) --> Read time : 275.626 us, Update time : 1121.905 us, Write time : 463.710 us[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151674 ms (missed cycles : 8). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.151674 ms (missed cycles : 8).[0m ×2 + 9.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.47sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.54sINFOobjective_server_nodeFound path in 5 iterations (0.00440809 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 9.59sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.60sINFOros2_control_node[2026-06-11 19:22:01.144] [info] Received new action goal ×2 + 9.60sINFOros2_control_node[2026-06-11 19:22:01.145] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340799 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340799 ms (missed cycles : 3).[0m ×2 + 10.05sWARNcontroller_managerOverrun might occur, Total time : 3127.670 us (Expected < 1666.667 us) --> Read time : 452.280 us, Update time : 436.040 us, Write time : 2239.350 us + 10.06sWARNros2_control_nodeOverrun might occur, Total time : 3127.670 us (Expected < 1666.667 us) --> Read time : 452.280 us, Update time : 436.040 us, Write time : 2239.350 us[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 11.25sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 11.25sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 11.83sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 11.83sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 12.42sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 12.42sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 13.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.49sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 13.55sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 13.55sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 14.55sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 14.55sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 14.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 14.77sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 14.77sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 15.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 15.39sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 15.39sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 15.81sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 16.91sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 16.91sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 17.70sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 99 warnings · 161 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808342 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808342 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun might occur, Total time : 3479.560 us (Expected < 1666.667 us) --> Read time : 241.956 us, Update time : 2546.618 us, Write time : 690.986 us + 7.47sWARNros2_control_nodeOverrun might occur, Total time : 3479.560 us (Expected < 1666.667 us) --> Read time : 241.956 us, Update time : 2546.618 us, Write time : 690.986 us[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100250 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100250 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun might occur, Total time : 2280.602 us (Expected < 1666.667 us) --> Read time : 240.865 us, Update time : 89.822 us, Write time : 1949.915 us + 8.69sWARNros2_control_nodeOverrun might occur, Total time : 2280.602 us (Expected < 1666.667 us) --> Read time : 240.865 us, Update time : 89.822 us, Write time : 1949.915 us[0m ×2 + 9.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975908 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975908 ms (missed cycles : 2).[0m ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 9.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 5 iterations (0.00445835 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 9.63sINFOobjective_server_nodeFound path in 1 iterations (0.00261361 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 9.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.85sINFOros2_control_node[2026-06-11 19:18:14.659] [info] Received new action goal ×2 + 9.85sINFOros2_control_node[2026-06-11 19:18:14.659] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun might occur, Total time : 1912.684 us (Expected < 1666.667 us) --> Read time : 219.925 us, Update time : 88.962 us, Write time : 1603.797 us + 9.92sWARNros2_control_nodeOverrun might occur, Total time : 1912.684 us (Expected < 1666.667 us) --> Read time : 219.925 us, Update time : 88.962 us, Write time : 1603.797 us[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561699 ms (missed cycles : 3). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561699 ms (missed cycles : 3).[0m ×2 + 11.06sWARNcontroller_managerOverrun might occur, Total time : 2708.983 us (Expected < 1666.667 us) --> Read time : 218.005 us, Update time : 1732.290 us, Write time : 758.688 us + 11.06sWARNros2_control_nodeOverrun might occur, Total time : 2708.983 us (Expected < 1666.667 us) --> Read time : 218.005 us, Update time : 1732.290 us, Write time : 758.688 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767830 ms (missed cycles : 5). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767830 ms (missed cycles : 5).[0m ×2 + 12.03sINFOparameter_manager_nodeRetrieving joint state from parameter manager. ×3 + 12.11sWARNcontroller_managerOverrun might occur, Total time : 2099.038 us (Expected < 1666.667 us) --> Read time : 344.318 us, Update time : 48.691 us, Write time : 1706.029 us + 12.11sWARNros2_control_nodeOverrun might occur, Total time : 2099.038 us (Expected < 1666.667 us) --> Read time : 344.318 us, Update time : 48.691 us, Write time : 1706.029 us[0m ×2 + 12.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.33sINFOparameter_manager_nodeClearing stored parameters in parameter manager. ×3 + 12.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1781205497.14534688 seconds ×3 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433998 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433998 ms (missed cycles : 4).[0m ×2 + 13.35sWARNcontroller_managerOverrun might occur, Total time : 6663.133 us (Expected < 1666.667 us) --> Read time : 346.018 us, Update time : 5789.333 us, Write time : 527.782 us + 13.36sWARNros2_control_nodeOverrun might occur, Total time : 6663.133 us (Expected < 1666.667 us) --> Read time : 346.018 us, Update time : 5789.333 us, Write time : 527.782 us[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836301 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836301 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363336 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363336 ms (missed cycles : 4).[0m ×2 + 14.50sWARNcontroller_managerOverrun might occur, Total time : 5998.348 us (Expected < 1666.667 us) --> Read time : 329.877 us, Update time : 5039.856 us, Write time : 628.615 us + 14.50sWARNros2_control_nodeOverrun might occur, Total time : 5998.348 us (Expected < 1666.667 us) --> Read time : 329.877 us, Update time : 5039.856 us, Write time : 628.615 us[0m ×2 + 14.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1781205499.50052619 seconds. ×3 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 14.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.92sINFOros2_control_node[2026-06-11 19:18:19.734] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-06-11 19:18:19.734] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093266 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093266 ms (missed cycles : 3).[0m ×2 + 15.66sWARNcontroller_managerOverrun might occur, Total time : 3705.845 us (Expected < 1666.667 us) --> Read time : 758.557 us, Update time : 99.732 us, Write time : 2847.556 us + 15.66sWARNros2_control_nodeOverrun might occur, Total time : 3705.845 us (Expected < 1666.667 us) --> Read time : 758.557 us, Update time : 99.732 us, Write time : 2847.556 us[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.358112 ms (missed cycles : 7). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.358112 ms (missed cycles : 7).[0m ×2 + 17.02sWARNcontroller_managerOverrun might occur, Total time : 1958.515 us (Expected < 1666.667 us) --> Read time : 238.126 us, Update time : 73.901 us, Write time : 1646.488 us + 17.02sWARNros2_control_nodeOverrun might occur, Total time : 1958.515 us (Expected < 1666.667 us) --> Read time : 238.126 us, Update time : 73.901 us, Write time : 1646.488 us[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.8s	3 errors · 102 warnings · 329 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 1.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.95sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 2.95sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.65sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 5.65sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.33sINFOros2_control_node[2026-06-11 19:17:36.573] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-06-11 19:17:36.573] [info] Accepted new action goal ×2 + 6.68sWARNcontroller_managerOverrun might occur, Total time : 2088.678 us (Expected < 1666.667 us) --> Read time : 335.518 us, Update time : 651.575 us, Write time : 1101.585 us + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 2088.678 us (Expected < 1666.667 us) --> Read time : 335.518 us, Update time : 651.575 us, Write time : 1101.585 us[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493800 ms (missed cycles : 6). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493800 ms (missed cycles : 6).[0m ×2 + 7.77sWARNcontroller_managerOverrun might occur, Total time : 7271.046 us (Expected < 1666.667 us) --> Read time : 307.027 us, Update time : 88.762 us, Write time : 6875.257 us + 7.77sWARNros2_control_nodeOverrun might occur, Total time : 7271.046 us (Expected < 1666.667 us) --> Read time : 307.027 us, Update time : 88.762 us, Write time : 6875.257 us[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.591626 ms (missed cycles : 6). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.591626 ms (missed cycles : 6).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621789 ms (missed cycles : 6). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621789 ms (missed cycles : 6).[0m ×2 + 9.06sWARNcontroller_managerOverrun might occur, Total time : 2055.187 us (Expected < 1666.667 us) --> Read time : 341.408 us, Update time : 615.594 us, Write time : 1098.185 us + 9.06sWARNros2_control_nodeOverrun might occur, Total time : 2055.187 us (Expected < 1666.667 us) --> Read time : 341.408 us, Update time : 615.594 us, Write time : 1098.185 us[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983230 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983230 ms (missed cycles : 2).[0m ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.09sINFOros2_control_node[2026-06-11 19:17:40.324] [info] Received new action goal ×2 + 10.09sINFOros2_control_node[2026-06-11 19:17:40.324] [info] Accepted new action goal ×2 + 10.10sWARNcontroller_managerOverrun might occur, Total time : 2859.415 us (Expected < 1666.667 us) --> Read time : 2183.690 us, Update time : 84.492 us, Write time : 591.233 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 2859.415 us (Expected < 1666.667 us) --> Read time : 2183.690 us, Update time : 84.492 us, Write time : 591.233 us[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2).[0m ×2 + 11.30sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 11.30sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 12.43sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 12.44sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 13.40sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 13.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.42sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 13.42sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 13.46sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 13.46sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 13.75sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 13.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 13.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 14.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 14.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 14.49sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 14.49sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 15.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.28sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 15.28sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 15.85sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 16.90sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 16.91sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.7s	6 errors · 99 warnings · 99 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.12sWARNcontroller_managerOverrun might occur, Total time : 1974.794 us (Expected < 1666.667 us) --> Read time : 221.145 us, Update time : 62.082 us, Write time : 1691.567 us + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231161 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun might occur, Total time : 1974.794 us (Expected < 1666.667 us) --> Read time : 221.145 us, Update time : 62.082 us, Write time : 1691.567 us[0m ×2 + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231161 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105620 ms (missed cycles : 5). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105620 ms (missed cycles : 5).[0m ×2 + 8.40sWARNcontroller_managerOverrun might occur, Total time : 1891.192 us (Expected < 1666.667 us) --> Read time : 797.438 us, Update time : 73.991 us, Write time : 1019.763 us + 8.40sWARNros2_control_nodeOverrun might occur, Total time : 1891.192 us (Expected < 1666.667 us) --> Read time : 797.438 us, Update time : 73.991 us, Write time : 1019.763 us[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.304290 ms (missed cycles : 7). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.304290 ms (missed cycles : 7).[0m ×2 + 9.56sWARNcontroller_managerOverrun might occur, Total time : 3074.729 us (Expected < 1666.667 us) --> Read time : 369.878 us, Update time : 58.371 us, Write time : 2646.480 us + 9.57sWARNros2_control_nodeOverrun might occur, Total time : 3074.729 us (Expected < 1666.667 us) --> Read time : 369.878 us, Update time : 58.371 us, Write time : 2646.480 us[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.644619 ms (missed cycles : 6). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.644619 ms (missed cycles : 6).[0m ×2 + 10.63sWARNcontroller_managerOverrun might occur, Total time : 8036.540 us (Expected < 1666.667 us) --> Read time : 355.248 us, Update time : 113.602 us, Write time : 7567.690 us + 10.63sWARNros2_control_nodeOverrun might occur, Total time : 8036.540 us (Expected < 1666.667 us) --> Read time : 355.248 us, Update time : 113.602 us, Write time : 7567.690 us[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030315 ms (missed cycles : 5). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030315 ms (missed cycles : 5).[0m ×2 + 11.85sWARNcontroller_managerOverrun might occur, Total time : 5950.114 us (Expected < 1666.667 us) --> Read time : 342.448 us, Update time : 5040.063 us, Write time : 567.603 us + 11.85sWARNros2_control_nodeOverrun might occur, Total time : 5950.114 us (Expected < 1666.667 us) --> Read time : 342.448 us, Update time : 5040.063 us, Write time : 567.603 us[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411434 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411434 ms (missed cycles : 3).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703180 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703180 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun might occur, Total time : 8438.149 us (Expected < 1666.667 us) --> Read time : 295.577 us, Update time : 78.132 us, Write time : 8064.440 us + 13.41sWARNros2_control_nodeOverrun might occur, Total time : 8438.149 us (Expected < 1666.667 us) --> Read time : 295.577 us, Update time : 78.132 us, Write time : 8064.440 us[0m ×2 + 14.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781205736.88163090 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615535 ms (missed cycles : 3). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615535 ms (missed cycles : 3).[0m ×2 + 14.42sWARNcontroller_managerOverrun might occur, Total time : 3291.054 us (Expected < 1666.667 us) --> Read time : 371.058 us, Update time : 2360.763 us, Write time : 559.233 us + 14.42sWARNros2_control_nodeOverrun might occur, Total time : 3291.054 us (Expected < 1666.667 us) --> Read time : 371.058 us, Update time : 2360.763 us, Write time : 559.233 us[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781205737.48588800 seconds. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.20sINFOros2_control_node[2026-06-11 19:22:17.767] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-06-11 19:22:17.767] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194220 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194220 ms (missed cycles : 3).[0m ×2 + 15.44sWARNcontroller_managerOverrun might occur, Total time : 2154.549 us (Expected < 1666.667 us) --> Read time : 332.238 us, Update time : 731.246 us, Write time : 1091.065 us + 15.45sWARNros2_control_nodeOverrun might occur, Total time : 2154.549 us (Expected < 1666.667 us) --> Read time : 332.238 us, Update time : 731.246 us, Write time : 1091.065 us[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014582 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014582 ms (missed cycles : 2).[0m ×2 + 16.58sWARNcontroller_managerOverrun might occur, Total time : 2714.612 us (Expected < 1666.667 us) --> Read time : 428.340 us, Update time : 1476.083 us, Write time : 810.189 us + 16.58sWARNros2_control_nodeOverrun might occur, Total time : 2714.612 us (Expected < 1666.667 us) --> Read time : 428.340 us, Update time : 1476.083 us, Write time : 810.189 us[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724316 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724316 ms (missed cycles : 2).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.7s	3 errors · 99 warnings · 173 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.29sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 0.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.02sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.298] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.299] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun might occur, Total time : 2305.603 us (Expected < 1666.667 us) --> Read time : 1208.627 us, Update time : 72.592 us, Write time : 1024.384 us + 6.33sWARNros2_control_nodeOverrun might occur, Total time : 2305.603 us (Expected < 1666.667 us) --> Read time : 1208.627 us, Update time : 72.592 us, Write time : 1024.384 us[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126649 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126649 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun might occur, Total time : 1682.429 us (Expected < 1666.667 us) --> Read time : 470.961 us, Update time : 163.624 us, Write time : 1047.844 us + 7.36sWARNros2_control_nodeOverrun might occur, Total time : 1682.429 us (Expected < 1666.667 us) --> Read time : 470.961 us, Update time : 163.624 us, Write time : 1047.844 us[0m ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 8.12sINFOros2_control_node[2026-06-11 19:18:02.605] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-06-11 19:18:02.605] [info] Accepted new action goal ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.285042 ms (missed cycles : 7). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.285042 ms (missed cycles : 7).[0m ×2 + 8.36sWARNcontroller_managerOverrun might occur, Total time : 1897.482 us (Expected < 1666.667 us) --> Read time : 771.187 us, Update time : 88.722 us, Write time : 1037.573 us + 8.36sWARNros2_control_nodeOverrun might occur, Total time : 1897.482 us (Expected < 1666.667 us) --> Read time : 771.187 us, Update time : 88.722 us, Write time : 1037.573 us[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984466 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984466 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun might occur, Total time : 2862.516 us (Expected < 1666.667 us) --> Read time : 233.866 us, Update time : 69.491 us, Write time : 2559.159 us + 9.42sWARNros2_control_nodeOverrun might occur, Total time : 2862.516 us (Expected < 1666.667 us) --> Read time : 233.866 us, Update time : 69.491 us, Write time : 2559.159 us[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 10.45sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.46sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 10.46sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 10.48sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 12.06sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 12.06sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 12.78sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 12.78sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 13.06sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 13.06sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 13.39sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 13.39sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 13.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 14.07sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 14.07sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 14.14sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 14.35sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 14.35sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 14.36sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 14.36sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 15.31sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 15.32sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 16.57sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 99 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8036.540 us (Expected < 1666.667 us) --> Read time : 355.248 us, Update time : 113.602 us, Write time : 7567.690 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8036.540 us (Expected < 1666.667 us) --> Read time : 355.248 us, Update time : 113.602 us, Write time : 7567.690 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030315 ms (missed cycles : 5). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030315 ms (missed cycles : 5).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 5950.114 us (Expected < 1666.667 us) --> Read time : 342.448 us, Update time : 5040.063 us, Write time : 567.603 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 5950.114 us (Expected < 1666.667 us) --> Read time : 342.448 us, Update time : 5040.063 us, Write time : 567.603 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411434 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411434 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703180 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703180 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 8438.149 us (Expected < 1666.667 us) --> Read time : 295.577 us, Update time : 78.132 us, Write time : 8064.440 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 8438.149 us (Expected < 1666.667 us) --> Read time : 295.577 us, Update time : 78.132 us, Write time : 8064.440 us[0m ×2 + 3.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781205736.88163090 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615535 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615535 ms (missed cycles : 3).[0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3291.054 us (Expected < 1666.667 us) --> Read time : 371.058 us, Update time : 2360.763 us, Write time : 559.233 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3291.054 us (Expected < 1666.667 us) --> Read time : 371.058 us, Update time : 2360.763 us, Write time : 559.233 us[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781205737.48588800 seconds. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.57sINFOros2_control_node[2026-06-11 19:22:17.767] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-06-11 19:22:17.767] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194220 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194220 ms (missed cycles : 3).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2154.549 us (Expected < 1666.667 us) --> Read time : 332.238 us, Update time : 731.246 us, Write time : 1091.065 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2154.549 us (Expected < 1666.667 us) --> Read time : 332.238 us, Update time : 731.246 us, Write time : 1091.065 us[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014582 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014582 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun might occur, Total time : 2714.612 us (Expected < 1666.667 us) --> Read time : 428.340 us, Update time : 1476.083 us, Write time : 810.189 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 2714.612 us (Expected < 1666.667 us) --> Read time : 428.340 us, Update time : 1476.083 us, Write time : 810.189 us[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724316 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724316 ms (missed cycles : 2).[0m ×2 + 7.13sWARNcontroller_managerOverrun might occur, Total time : 1862.482 us (Expected < 1666.667 us) --> Read time : 226.525 us, Update time : 556.103 us, Write time : 1079.854 us + 7.13sWARNros2_control_nodeOverrun might occur, Total time : 1862.482 us (Expected < 1666.667 us) --> Read time : 226.525 us, Update time : 556.103 us, Write time : 1079.854 us[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748983 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748983 ms (missed cycles : 3).[0m ×2 + 8.15sWARNcontroller_managerOverrun might occur, Total time : 7637.791 us (Expected < 1666.667 us) --> Read time : 6962.996 us, Update time : 123.673 us, Write time : 551.122 us + 8.15sWARNros2_control_nodeOverrun might occur, Total time : 7637.791 us (Expected < 1666.667 us) --> Read time : 6962.996 us, Update time : 123.673 us, Write time : 551.122 us[0m ×2 + 8.59sINFOros2_control_node[2026-06-11 19:22:21.787] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-06-11 19:22:21.787] [info] Accepted new action goal ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753736 ms (missed cycles : 4). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753736 ms (missed cycles : 4).[0m ×2 + 9.26sWARNcontroller_managerOverrun might occur, Total time : 1842.332 us (Expected < 1666.667 us) --> Read time : 370.589 us, Update time : 481.800 us, Write time : 989.943 us + 9.27sWARNros2_control_nodeOverrun might occur, Total time : 1842.332 us (Expected < 1666.667 us) --> Read time : 370.589 us, Update time : 481.800 us, Write time : 989.943 us[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732287 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732287 ms (missed cycles : 3).[0m ×2 + 10.45sWARNcontroller_managerOverrun might occur, Total time : 2008.126 us (Expected < 1666.667 us) --> Read time : 249.326 us, Update time : 45.011 us, Write time : 1713.789 us + 10.45sWARNros2_control_nodeOverrun might occur, Total time : 2008.126 us (Expected < 1666.667 us) --> Read time : 249.326 us, Update time : 45.011 us, Write time : 1713.789 us[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun might occur, Total time : 2298.451 us (Expected < 1666.667 us) --> Read time : 229.235 us, Update time : 77.692 us, Write time : 1991.524 us + 11.76sWARNros2_control_nodeOverrun might occur, Total time : 2298.451 us (Expected < 1666.667 us) --> Read time : 229.235 us, Update time : 77.692 us, Write time : 1991.524 us[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238478 ms (missed cycles : 3). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238478 ms (missed cycles : 3).[0m ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 1967.994 us (Expected < 1666.667 us) --> Read time : 234.535 us, Update time : 766.517 us, Write time : 966.942 us + 12.78sWARNros2_control_nodeOverrun might occur, Total time : 1967.994 us (Expected < 1666.667 us) --> Read time : 234.535 us, Update time : 766.517 us, Write time : 966.942 us[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883347 ms (missed cycles : 4). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883347 ms (missed cycles : 4).[0m ×2 + 13.97sWARNcontroller_managerOverrun might occur, Total time : 2111.668 us (Expected < 1666.667 us) --> Read time : 273.517 us, Update time : 765.167 us, Write time : 1072.984 us + 13.97sWARNros2_control_nodeOverrun might occur, Total time : 2111.668 us (Expected < 1666.667 us) --> Read time : 273.517 us, Update time : 765.167 us, Write time : 1072.984 us[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781205747.37213278 seconds ×3 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379603 ms (missed cycles : 4). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379603 ms (missed cycles : 4).[0m ×2 + 14.78sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781205747.98065448 seconds. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.91sINFOros2_control_node[2026-06-11 19:22:28.105] [info] Received new action goal ×2 + 14.91sINFOros2_control_node[2026-06-11 19:22:28.105] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun might occur, Total time : 1814.801 us (Expected < 1666.667 us) --> Read time : 216.965 us, Update time : 92.562 us, Write time : 1505.274 us + 15.20sWARNros2_control_nodeOverrun might occur, Total time : 1814.801 us (Expected < 1666.667 us) --> Read time : 216.965 us, Update time : 92.562 us, Write time : 1505.274 us[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118080 ms (missed cycles : 5). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118080 ms (missed cycles : 5).[0m ×2 + 16.33sWARNcontroller_managerOverrun might occur, Total time : 1856.222 us (Expected < 1666.667 us) --> Read time : 788.808 us, Update time : 91.932 us, Write time : 975.482 us + 16.33sWARNros2_control_nodeOverrun might occur, Total time : 1856.222 us (Expected < 1666.667 us) --> Read time : 788.808 us, Update time : 91.932 us, Write time : 975.482 us[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108975 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108975 ms (missed cycles : 2).[0m ×2 + 16.82sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.37sWARNcontroller_managerOverrun might occur, Total time : 9208.647 us (Expected < 1666.667 us) --> Read time : 202.994 us, Update time : 8434.160 us, Write time : 571.493 us + 17.38sWARNros2_control_nodeOverrun might occur, Total time : 9208.647 us (Expected < 1666.667 us) --> Read time : 202.994 us, Update time : 8434.160 us, Write time : 571.493 us[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797167 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797167 ms (missed cycles : 2).[0m ×2
✓ passed	ML Find Objects on Table	ml_find_objects_on_table.xml	5.5s	72 warnings · 238 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×12 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 0.22sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 0.22sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 0.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.55sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781205525.39128566 seconds ×3 + 3.58sWARNcontroller_managerOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us + 3.58sWARNros2_control_nodeOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781205525.98664880 seconds. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6).[0m ×2 + 4.31sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2).[0m ×2 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_node[0;93m2026-06-11 19:18:48.467958802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.64sINFOobjective_server_node[0;93m2026-06-11 19:18:48.468000493 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.21sINFOobjective_server_node[0;93m2026-06-11 19:18:49.033186795 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.21sINFOobjective_server_node[0;93m2026-06-11 19:18:49.033227826 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.23sWARNcontroller_managerOverrun might occur, Total time : 9059.217 us (Expected < 1666.667 us) --> Read time : 333.627 us, Update time : 856.580 us, Write time : 7869.010 us + 7.24sWARNros2_control_nodeOverrun might occur, Total time : 9059.217 us (Expected < 1666.667 us) --> Read time : 333.627 us, Update time : 856.580 us, Write time : 7869.010 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600551 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600551 ms (missed cycles : 3).[0m ×2 + 7.35sINFOobjective_server_node[0;93m2026-06-11 19:18:49.176399193 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 7.35sINFOobjective_server_node[0;93m2026-06-11 19:18:49.178920081 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.35sINFOobjective_server_node[0;93m2026-06-11 19:18:49.178968923 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.73sINFOobjective_server_node[0;93m2026-06-11 19:18:49.556123396 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 7.74sINFOobjective_server_node[0;93m2026-06-11 19:18:49.571172921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.74sINFOobjective_server_node[0;93m2026-06-11 19:18:49.571215122 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145425 ms (missed cycles : 7). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145425 ms (missed cycles : 7).[0m ×2 + 8.53sWARNcontroller_managerOverrun might occur, Total time : 2628.640 us (Expected < 1666.667 us) --> Read time : 377.118 us, Update time : 1673.699 us, Write time : 577.823 us + 8.53sWARNros2_control_nodeOverrun might occur, Total time : 2628.640 us (Expected < 1666.667 us) --> Read time : 377.118 us, Update time : 1673.699 us, Write time : 577.823 us[0m ×2 + 9.09sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 9.57sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 9.57sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 9.72sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 10.26sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.26sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 10.63sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 10.63sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 10.76sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.76sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.88sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.89sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.89sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.25sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 11.27sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 11.27sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 11.72sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 11.72sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 12.14sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	3.0s	54 warnings · 122 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2).[0m ×2 + 0.85sINFOobjective_server_node[0;93m2026-06-11 19:18:48.467958802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.85sINFOobjective_server_node[0;93m2026-06-11 19:18:48.468000493 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.41sINFOobjective_server_node[0;93m2026-06-11 19:18:49.033186795 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.41sINFOobjective_server_node[0;93m2026-06-11 19:18:49.033227826 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.44sWARNcontroller_managerOverrun might occur, Total time : 9059.217 us (Expected < 1666.667 us) --> Read time : 333.627 us, Update time : 856.580 us, Write time : 7869.010 us + 1.44sWARNros2_control_nodeOverrun might occur, Total time : 9059.217 us (Expected < 1666.667 us) --> Read time : 333.627 us, Update time : 856.580 us, Write time : 7869.010 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600551 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600551 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-06-11 19:18:49.176399193 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-06-11 19:18:49.178920081 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.56sINFOobjective_server_node[0;93m2026-06-11 19:18:49.178968923 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sINFOobjective_server_node[0;93m2026-06-11 19:18:49.556123396 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-11 19:18:49.571172921 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.95sINFOobjective_server_node[0;93m2026-06-11 19:18:49.571215122 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145425 ms (missed cycles : 7). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145425 ms (missed cycles : 7).[0m ×2 + 2.73sWARNcontroller_managerOverrun might occur, Total time : 2628.640 us (Expected < 1666.667 us) --> Read time : 377.118 us, Update time : 1673.699 us, Write time : 577.823 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2628.640 us (Expected < 1666.667 us) --> Read time : 377.118 us, Update time : 1673.699 us, Write time : 577.823 us[0m ×2 + 3.30sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 3.77sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 3.92sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 4.46sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.46sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 4.83sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 4.83sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 4.97sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.97sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.09sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.09sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.09sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.45sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.47sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.47sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 5.92sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 6.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 7.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 7.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.15sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.16sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.20sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.47sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 8.21sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 8.21sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 9.52sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2
✓ passed	Look at Table	look_at_table.xml	2.9s	57 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4).[0m ×2 + 0.65sWARNcontroller_managerOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us + 0.66sWARNros2_control_nodeOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us + 2.02sWARNros2_control_nodeOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 4.15sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 4.15sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781205525.39128566 seconds ×3 + 6.44sWARNcontroller_managerOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us + 6.45sWARNros2_control_nodeOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us[0m ×2 + 7.02sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781205525.98664880 seconds. ×3 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6).[0m ×2 + 7.17sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Accepted new action goal ×2 + 7.64sWARNcontroller_managerOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us + 7.65sWARNros2_control_nodeOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us + 8.66sWARNros2_control_nodeOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2).[0m ×2 + 9.51sINFOobjective_server_node[0;93m2026-06-11 19:18:48.467958802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.51sINFOobjective_server_node[0;93m2026-06-11 19:18:48.468000493 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
✓ passed	Close Gripper	close_gripper.xml	1.6s	67 warnings · 560 info
+ 0.00sINFOobjective_server_node[2026-06-11 19:17:25.459] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.12sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.26sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.26sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.26sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.26sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.26sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.27sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.27sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.28sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.28sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.28sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.28sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.29sWARNcontroller_managerOverrun might occur, Total time : 4943.953 us (Expected < 1666.667 us) --> Read time : 240.885 us, Update time : 4042.903 us (Switch time : 4027.712 us (Switch chained mode time : 1.070 us, perform mode change time : 5.670 us, Activation time : 4010.242 us, Deactivation time : 1.030 us)), Write time : 660.165 us + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176840 ms (missed cycles : 4). + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.29sWARNros2_control_nodeOverrun might occur, Total time : 4943.953 us (Expected < 1666.667 us) --> Read time : 240.885 us, Update time : 4042.903 us (Switch time : 4027.712 us (Switch chained mode time : 1.070 us, perform mode change time : 5.670 us, Activation time : 4010.242 us, Deactivation time : 1.030 us)), Write time : 660.165 us[0m ×2 + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176840 ms (missed cycles : 4).[0m ×2 + 0.29sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.40sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.52sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9184] ×2 + 0.61sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.61sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.61sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.61sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.61sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.61sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.65sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.66sINFOforce_torque_sensor_broadcasterconfigure successful + 0.66sINFOros2_control_nodeconfigure successful[0m ×2 + 0.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.67sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.70sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.75sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.75sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 0.81sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.82sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.82sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.82sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.82sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.85sWARNcontroller_managerOverrun might occur, Total time : 2821.165 us (Expected < 1666.667 us) --> Read time : 1273.759 us, Update time : 225.115 us, Write time : 1322.291 us + 0.86sWARNros2_control_nodeOverrun might occur, Total time : 2821.165 us (Expected < 1666.667 us) --> Read time : 1273.759 us, Update time : 225.115 us, Write time : 1322.291 us[0m ×2 + 0.87sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.98sINFOmove_group ×4 + 0.98sINFOmove_group[92mYou can start planning now![0m ×2 + 1.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9183] ×2 + 1.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.14sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.18sINFOros2_control_node[2026-06-11 19:17:26.639] [info] Controller state will be published at 10 Hz. ×2 + 1.18sINFOros2_control_node[2026-06-11 19:17:26.640] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9190] ×2 + 1.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.56sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 1.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.56sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.56sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.59sINFOros2_control_node[2026-06-11 19:17:27.048] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.59sINFOros2_control_node[2026-06-11 19:17:27.048] [info] Controller state will be published at 50 Hz. ×2 + 1.60sINFOros2_control_node[2026-06-11 19:17:27.054] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9188] ×2 + 1.95sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.95sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.95sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.95sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.95sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.97sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us[0m ×2 + 2.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 2.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 2.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 2.37sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.37sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.38sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.38sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.38sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.38sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.38sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.38sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.39sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 2.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 2.42sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.70sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.70sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.70sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 2.77sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 2.77sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 2.82sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.86sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 2.86sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 3.63sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 5.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 6.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 6.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 7.00sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 7.00sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 7.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 7.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.73sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 7.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 8.26sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 8.26sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 8.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 8.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	3 errors · 47 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 3.64sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 4.45sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 6.59sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3 + 7.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781205774.61517119 seconds ×3 + 7.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2). + 7.64sWARNcontroller_managerOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	45 warnings · 98 info
+ 0.00sINFOros2_control_node[2026-06-11 19:17:53.449] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-11 19:17:53.449] [info] Accepted new action goal ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869852 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869852 ms (missed cycles : 2).[0m ×2 + 0.11sWARNcontroller_managerOverrun might occur, Total time : 1997.615 us (Expected < 1666.667 us) --> Read time : 920.531 us, Update time : 86.832 us, Write time : 990.252 us + 0.11sWARNros2_control_nodeOverrun might occur, Total time : 1997.615 us (Expected < 1666.667 us) --> Read time : 920.531 us, Update time : 86.832 us, Write time : 990.252 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 1.34sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 6.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.85sINFOros2_control_node[2026-06-11 19:18:00.298] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-06-11 19:18:00.299] [info] Accepted new action goal ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 48 warnings · 130 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 4.11sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 4.11sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 5.06sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5).[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us + 7.31sWARNros2_control_nodeOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 42 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.47sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.48sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.81sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.81sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.35sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us + 6.99sWARNros2_control_nodeOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us[0m ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	45 warnings · 125 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1852.473 us (Expected < 1666.667 us) --> Read time : 264.646 us, Update time : 132.683 us, Write time : 1455.144 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1852.473 us (Expected < 1666.667 us) --> Read time : 264.646 us, Update time : 132.683 us, Write time : 1455.144 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.84sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781205525.39128566 seconds ×3 + 6.86sWARNcontroller_managerOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us + 6.86sWARNros2_control_nodeOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.6s	53 warnings · 394 info
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.054] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9188] ×2 + 0.44sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.46sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us[0m ×2 + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.86sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.19sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 1.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.31sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 2.13sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 6.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 6.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.03sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 42 warnings · 133 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 0.79sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 0.79sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 1.99sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 1.99sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 3.34sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.66sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 3.66sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 4.29sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.02sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.03sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 5.52sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 5.52sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5).[0m ×2 + 6.54sWARNcontroller_managerOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us + 6.54sWARNros2_control_nodeOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 45 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 2.56sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 4.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 4.48sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 4.48sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 4.95sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 5.51sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781205774.61517119 seconds ×3 + 6.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2). + 6.56sWARNcontroller_managerOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288372 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2).[0m ×2 + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us[0m ×2 + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288372 ms (missed cycles : 2).[0m ×2
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.6s	3 errors · 45 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2).[0m ×2 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 1.28sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 1.52sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 1.52sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 1.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 1.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.33sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.33sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781205774.61517119 seconds ×3 + 5.28sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2). + 5.52sWARNcontroller_managerOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288372 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771759 ms (missed cycles : 2).[0m ×2 + 6.34sWARNros2_control_nodeOverrun might occur, Total time : 2115.058 us (Expected < 1666.667 us) --> Read time : 332.638 us, Update time : 1179.936 us, Write time : 602.484 us[0m ×2 + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288372 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 3767.955 us (Expected < 1666.667 us) --> Read time : 209.054 us, Update time : 3061.439 us, Write time : 497.462 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 3767.955 us (Expected < 1666.667 us) --> Read time : 209.054 us, Update time : 3061.439 us, Write time : 497.462 us[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	39 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 0.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.298] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.299] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	39 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 0.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.298] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.299] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	39 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 0.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.298] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.299] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	42 warnings · 97 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1852.473 us (Expected < 1666.667 us) --> Read time : 264.646 us, Update time : 132.683 us, Write time : 1455.144 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1852.473 us (Expected < 1666.667 us) --> Read time : 264.646 us, Update time : 132.683 us, Write time : 1455.144 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.468358 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us + 1.08sWARNros2_control_nodeOverrun might occur, Total time : 4523.614 us (Expected < 1666.667 us) --> Read time : 258.056 us, Update time : 3754.887 us, Write time : 510.671 us[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637193 ms (missed cycles : 6).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786779 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2045.567 us (Expected < 1666.667 us) --> Read time : 266.016 us, Update time : 147.213 us, Write time : 1632.338 us[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.96sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 3.96sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.84sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 5.62sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	36 warnings · 102 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 1.16sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	39 warnings · 71 info
+ 0.00sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.02sINFOros2_control_node[2026-06-11 19:19:43.985] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-06-11 19:19:43.985] [info] Accepted new action goal ×2 + 0.33sWARNcontroller_managerOverrun might occur, Total time : 2132.709 us (Expected < 1666.667 us) --> Read time : 223.415 us, Update time : 63.032 us, Write time : 1846.262 us + 0.34sWARNros2_control_nodeOverrun might occur, Total time : 2132.709 us (Expected < 1666.667 us) --> Read time : 223.415 us, Update time : 63.032 us, Write time : 1846.262 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763640 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763640 ms (missed cycles : 6).[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.628806 ms (missed cycles : 6). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.628806 ms (missed cycles : 6).[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 6498.029 us (Expected < 1666.667 us) --> Read time : 5808.763 us, Update time : 103.803 us, Write time : 585.463 us + 1.55sWARNros2_control_nodeOverrun might occur, Total time : 6498.029 us (Expected < 1666.667 us) --> Read time : 5808.763 us, Update time : 103.803 us, Write time : 585.463 us[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075601 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075601 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun might occur, Total time : 5752.471 us (Expected < 1666.667 us) --> Read time : 306.007 us, Update time : 4965.893 us, Write time : 480.571 us + 2.66sWARNros2_control_nodeOverrun might occur, Total time : 5752.471 us (Expected < 1666.667 us) --> Read time : 306.007 us, Update time : 4965.893 us, Write time : 480.571 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557815 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557815 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1781205587.59613180 seconds ×3 + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4265.437 us (Expected < 1666.667 us) --> Read time : 328.457 us, Update time : 3368.337 us, Write time : 568.643 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4265.437 us (Expected < 1666.667 us) --> Read time : 328.457 us, Update time : 3368.337 us, Write time : 568.643 us[0m ×2 + 4.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1781205588.23078966 seconds. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.43sINFOros2_control_node[2026-06-11 19:19:48.394] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-11 19:19:48.394] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072432 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072432 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2074.238 us (Expected < 1666.667 us) --> Read time : 214.765 us, Update time : 73.862 us, Write time : 1785.611 us + 5.09sWARNros2_control_nodeOverrun might occur, Total time : 2074.238 us (Expected < 1666.667 us) --> Read time : 214.765 us, Update time : 73.862 us, Write time : 1785.611 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150798 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150798 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.70sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 2205.681 us (Expected < 1666.667 us) --> Read time : 247.466 us, Update time : 868.290 us, Write time : 1089.925 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 2205.681 us (Expected < 1666.667 us) --> Read time : 247.466 us, Update time : 868.290 us, Write time : 1089.925 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073788 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073788 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	42 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2008.126 us (Expected < 1666.667 us) --> Read time : 249.326 us, Update time : 45.011 us, Write time : 1713.789 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2008.126 us (Expected < 1666.667 us) --> Read time : 249.326 us, Update time : 45.011 us, Write time : 1713.789 us[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562691 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 2298.451 us (Expected < 1666.667 us) --> Read time : 229.235 us, Update time : 77.692 us, Write time : 1991.524 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 2298.451 us (Expected < 1666.667 us) --> Read time : 229.235 us, Update time : 77.692 us, Write time : 1991.524 us[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238478 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238478 ms (missed cycles : 3).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1967.994 us (Expected < 1666.667 us) --> Read time : 234.535 us, Update time : 766.517 us, Write time : 966.942 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1967.994 us (Expected < 1666.667 us) --> Read time : 234.535 us, Update time : 766.517 us, Write time : 966.942 us[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883347 ms (missed cycles : 4). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883347 ms (missed cycles : 4).[0m ×2 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 2111.668 us (Expected < 1666.667 us) --> Read time : 273.517 us, Update time : 765.167 us, Write time : 1072.984 us + 3.53sWARNros2_control_nodeOverrun might occur, Total time : 2111.668 us (Expected < 1666.667 us) --> Read time : 273.517 us, Update time : 765.167 us, Write time : 1072.984 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1781205747.37213278 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379603 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379603 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1781205747.98065448 seconds. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.46sINFOros2_control_node[2026-06-11 19:22:28.105] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-06-11 19:22:28.105] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1814.801 us (Expected < 1666.667 us) --> Read time : 216.965 us, Update time : 92.562 us, Write time : 1505.274 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1814.801 us (Expected < 1666.667 us) --> Read time : 216.965 us, Update time : 92.562 us, Write time : 1505.274 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118080 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118080 ms (missed cycles : 5).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1856.222 us (Expected < 1666.667 us) --> Read time : 788.808 us, Update time : 91.932 us, Write time : 975.482 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 1856.222 us (Expected < 1666.667 us) --> Read time : 788.808 us, Update time : 91.932 us, Write time : 975.482 us[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108975 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108975 ms (missed cycles : 2).[0m ×2 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.93sWARNcontroller_managerOverrun might occur, Total time : 9208.647 us (Expected < 1666.667 us) --> Read time : 202.994 us, Update time : 8434.160 us, Write time : 571.493 us + 6.93sWARNros2_control_nodeOverrun might occur, Total time : 9208.647 us (Expected < 1666.667 us) --> Read time : 202.994 us, Update time : 8434.160 us, Write time : 571.493 us[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797167 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797167 ms (missed cycles : 2).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 42 warnings · 130 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 4.11sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 4.11sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 5.06sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 45 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 3.64sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 4.45sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 6.59sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 45 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2620.479 us (Expected < 1666.667 us) --> Read time : 262.986 us, Update time : 1764.560 us, Write time : 592.933 us[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079052 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2607.249 us (Expected < 1666.667 us) --> Read time : 874.690 us, Update time : 671.795 us, Write time : 1060.764 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.409234 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103409 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 2003.655 us (Expected < 1666.667 us) --> Read time : 798.258 us, Update time : 144.823 us, Write time : 1060.574 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.764446 ms (missed cycles : 6).[0m ×2 + 3.39sWARNcontroller_managerOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2559.968 us (Expected < 1666.667 us) --> Read time : 205.435 us, Update time : 1791.760 us, Write time : 562.773 us[0m ×2 + 3.64sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-11 19:22:50.886] [info] Canceling active goal... ×2 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1781205770.89134979 seconds ×3 + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399225 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781205771.57895184 seconds. ×3 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us + 4.45sWARNros2_control_nodeOverrun might occur, Total time : 1767.759 us (Expected < 1666.667 us) --> Read time : 528.572 us, Update time : 248.245 us, Write time : 990.942 us[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781205772.09037066 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422309 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1781205772.69283795 seconds. ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.45sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1781205772.69459987 seconds ×3 + 5.56sWARNcontroller_managerOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us + 5.56sWARNros2_control_nodeOverrun might occur, Total time : 1820.341 us (Expected < 1666.667 us) --> Read time : 333.498 us, Update time : 700.776 us, Write time : 786.067 us[0m ×2 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1781205773.27237678 seconds. ×3 + 6.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1781205773.27287078 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899563 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us + 6.59sWARNros2_control_nodeOverrun might occur, Total time : 3400.746 us (Expected < 1666.667 us) --> Read time : 233.285 us, Update time : 659.035 us, Write time : 2508.426 us[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781205773.96502638 seconds. ×3
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 39 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.47sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.48sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.81sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.81sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.35sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 39 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926984 ms (missed cycles : 2).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.47sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.48sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.48sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.81sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.81sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.35sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 39 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us + 6.63sWARNros2_control_nodeOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 39 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us + 6.63sWARNros2_control_nodeOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 39 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us + 6.63sWARNros2_control_nodeOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 39 warnings · 88 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5048.566 us (Expected < 1666.667 us) --> Read time : 195.965 us, Update time : 35.891 us, Write time : 4816.710 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.025010 ms (missed cycles : 7).[0m ×2 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2232.072 us (Expected < 1666.667 us) --> Read time : 359.589 us, Update time : 1335.460 us, Write time : 537.023 us[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514881 ms (missed cycles : 6).[0m ×2 + 2.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-06-11 19:17:43.663] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 6020.087 us (Expected < 1666.667 us) --> Read time : 295.737 us, Update time : 5071.275 us, Write time : 653.075 us[0m ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-06-11 19:17:43.989] [info] Canceling active goal... ×2 + 2.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1781205464.00436831 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704472 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1781205464.59042931 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1781205464.69057655 seconds ×3 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 8125.066 us (Expected < 1666.667 us) --> Read time : 308.137 us, Update time : 5706.310 us, Write time : 2110.619 us[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062133 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1781205465.33122420 seconds. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-06-11 19:17:45.525] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2841.894 us (Expected < 1666.667 us) --> Read time : 274.506 us, Update time : 87.972 us, Write time : 2479.416 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429190 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 1928.644 us (Expected < 1666.667 us) --> Read time : 205.575 us, Update time : 1098.675 us, Write time : 624.394 us[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309388 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us + 6.63sWARNros2_control_nodeOverrun might occur, Total time : 1940.004 us (Expected < 1666.667 us) --> Read time : 1434.592 us, Update time : 67.672 us, Write time : 437.740 us[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	39 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947209 ms (missed cycles : 3).[0m ×2 + 0.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us + 0.30sWARNros2_control_nodeOverrun might occur, Total time : 8856.351 us (Expected < 1666.667 us) --> Read time : 355.698 us, Update time : 37.241 us, Write time : 8463.412 us[0m ×2 + 0.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-06-11 19:17:55.206] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838196 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us + 1.50sWARNros2_control_nodeOverrun might occur, Total time : 2546.568 us (Expected < 1666.667 us) --> Read time : 306.787 us, Update time : 774.948 us, Write time : 1464.833 us[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1781205476.48271990 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sWARNcontroller_managerOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4). + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sWARNros2_control_nodeOverrun might occur, Total time : 5962.916 us (Expected < 1666.667 us) --> Read time : 256.366 us, Update time : 5032.584 us (Switch time : 10586.721 us (Switch chained mode time : 0.000 us, perform mode change time : 0.000 us, Activation time : 10576.991 us, Deactivation time : 0.000 us)), Write time : 673.966 us[0m ×2 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134933 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1781205477.09966063 seconds. ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us + 2.62sWARNros2_control_nodeOverrun might occur, Total time : 1927.594 us (Expected < 1666.667 us) --> Read time : 502.201 us, Update time : 814.639 us, Write time : 610.754 us[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1781205477.18979430 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583656 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1781205477.79387522 seconds. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-06-11 19:17:57.934] [info] Accepted new action goal ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us + 3.94sWARNros2_control_nodeOverrun might occur, Total time : 2174.590 us (Expected < 1666.667 us) --> Read time : 290.967 us, Update time : 887.920 us, Write time : 995.703 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123807 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248297 ms (missed cycles : 7).[0m ×2 + 5.25sWARNcontroller_managerOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us + 5.25sWARNros2_control_nodeOverrun might occur, Total time : 1986.445 us (Expected < 1666.667 us) --> Read time : 228.025 us, Update time : 1286.229 us, Write time : 472.191 us[0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.298] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-06-11 19:18:00.299] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627640 ms (missed cycles : 3).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 39 warnings · 68 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849499 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-06-11 19:18:04.945] [info] Accepted new action goal ×2 + 0.15sWARNcontroller_managerOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us + 0.15sWARNros2_control_nodeOverrun might occur, Total time : 4279.998 us (Expected < 1666.667 us) --> Read time : 375.268 us, Update time : 3312.966 us, Write time : 591.764 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482484 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us + 1.74sWARNros2_control_nodeOverrun might occur, Total time : 1879.753 us (Expected < 1666.667 us) --> Read time : 832.509 us, Update time : 56.191 us, Write time : 991.053 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.923591 ms (missed cycles : 8).[0m ×2 + 2.45sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-06-11 19:18:07.271] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us + 2.74sWARNros2_control_nodeOverrun might occur, Total time : 2091.288 us (Expected < 1666.667 us) --> Read time : 213.705 us, Update time : 74.042 us, Write time : 1803.541 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.215208 ms (missed cycles : 10).[0m ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-06-11 19:18:07.884] [info] Canceling active goal... ×2 + 3.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1781205487.90246081 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 4938.933 us (Expected < 1666.667 us) --> Read time : 257.526 us, Update time : 341.888 us, Write time : 4339.519 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1781205488.63195372 seconds. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-06-11 19:18:08.846] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796980 ms (missed cycles : 2).[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2026.526 us (Expected < 1666.667 us) --> Read time : 221.255 us, Update time : 80.042 us, Write time : 1725.229 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825959 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946718 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1873.283 us (Expected < 1666.667 us) --> Read time : 796.578 us, Update time : 71.842 us, Write time : 1004.863 us[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 39 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.600684 ms (missed cycles : 9). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.600684 ms (missed cycles : 9).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072924 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072924 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 2233.332 us (Expected < 1666.667 us) --> Read time : 204.535 us, Update time : 1575.046 us, Write time : 453.751 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 2233.332 us (Expected < 1666.667 us) --> Read time : 204.535 us, Update time : 1575.046 us, Write time : 453.751 us[0m ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.91sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.98sINFOobjective_server_nodeFound path in 5 iterations (0.00698221 s). ×2 + 2.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sINFOros2_control_node[2026-06-11 19:18:28.596] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-06-11 19:18:28.596] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727253 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727253 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 1926.734 us (Expected < 1666.667 us) --> Read time : 232.275 us, Update time : 80.202 us, Write time : 1614.257 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 1926.734 us (Expected < 1666.667 us) --> Read time : 232.275 us, Update time : 80.202 us, Write time : 1614.257 us[0m ×2 + 2.47sINFOros2_control_node[2026-06-11 19:18:28.998] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:18:28.998] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355314 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355314 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun might occur, Total time : 3191.313 us (Expected < 1666.667 us) --> Read time : 283.597 us, Update time : 2442.626 us, Write time : 465.090 us + 3.13sWARNros2_control_nodeOverrun might occur, Total time : 3191.313 us (Expected < 1666.667 us) --> Read time : 283.597 us, Update time : 2442.626 us, Write time : 465.090 us[0m ×2 + 3.36sINFOros2_control_node[2026-06-11 19:18:29.891] [info] Got request to cancel active goal. ×2 + 3.36sINFOros2_control_node[2026-06-11 19:18:29.891] [info] Canceling active goal... ×2 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1781205509.93903923 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1781205510.62462807 seconds. ×3 + 4.13sWARNcontroller_managerOverrun might occur, Total time : 1711.949 us (Expected < 1666.667 us) --> Read time : 1044.214 us, Update time : 73.812 us, Write time : 593.923 us + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905127 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun might occur, Total time : 1711.949 us (Expected < 1666.667 us) --> Read time : 1044.214 us, Update time : 73.812 us, Write time : 593.923 us[0m ×2 + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905127 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-06-11 19:18:30.769] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-06-11 19:18:30.769] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277498 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277498 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun might occur, Total time : 2703.412 us (Expected < 1666.667 us) --> Read time : 219.235 us, Update time : 1928.414 us, Write time : 555.763 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2703.412 us (Expected < 1666.667 us) --> Read time : 219.235 us, Update time : 1928.414 us, Write time : 555.763 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264023 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264023 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 2226.881 us (Expected < 1666.667 us) --> Read time : 323.277 us, Update time : 868.060 us, Write time : 1035.544 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 2226.881 us (Expected < 1666.667 us) --> Read time : 323.277 us, Update time : 868.060 us, Write time : 1035.544 us[0m ×2 + 6.73sINFOros2_control_node[2026-06-11 19:18:33.259] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-06-11 19:18:33.259] [info] Accepted new action goal ×2
− skipped	ML Auto Grasp Object from Clicked Point	ml_auto_grasp_object_from_clicked_point.xml	0.0s	42 warnings · 143 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 0.22sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 0.22sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 0.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.55sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781205525.39128566 seconds ×3 + 3.58sWARNcontroller_managerOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us + 3.58sWARNros2_control_nodeOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781205525.98664880 seconds. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6).[0m ×2 + 4.31sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2).[0m ×2 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_node[0;93m2026-06-11 19:18:48.467958802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.64sINFOobjective_server_node[0;93m2026-06-11 19:18:48.468000493 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	42 warnings · 143 info
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1781205521.82711101 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758814 ms (missed cycles : 2).[0m ×2 + 0.22sWARNcontroller_managerOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us + 0.22sWARNros2_control_nodeOverrun might occur, Total time : 2525.868 us (Expected < 1666.667 us) --> Read time : 205.305 us, Update time : 1760.540 us, Write time : 560.023 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1781205522.43841720 seconds. ×3 + 0.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.68sWARNcontroller_managerOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us + 0.68sWARNros2_control_nodeOverrun might occur, Total time : 3554.381 us (Expected < 1666.667 us) --> Read time : 309.857 us, Update time : 2731.692 us (Switch time : 2643.901 us (Switch chained mode time : 0.480 us, perform mode change time : 7.520 us, Activation time : 2629.881 us, Deactivation time : 0.300 us)), Write time : 512.832 us[0m ×2 + 0.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1781205522.51858521 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541666 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 3985.212 us (Expected < 1666.667 us) --> Read time : 239.746 us, Update time : 3137.962 us, Write time : 607.504 us[0m ×2 + 1.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1781205523.23565507 seconds. ×3 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 1.55sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-06-11 19:18:43.379] [info] Accepted new action goal ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463192 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 5700.931 us (Expected < 1666.667 us) --> Read time : 345.658 us, Update time : 4780.800 us, Write time : 574.473 us[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839860 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1781205525.39128566 seconds ×3 + 3.58sWARNcontroller_managerOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us + 3.58sWARNros2_control_nodeOverrun might occur, Total time : 3962.190 us (Expected < 1666.667 us) --> Read time : 242.805 us, Update time : 3195.263 us, Write time : 524.122 us[0m ×2 + 4.16sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1781205525.98664880 seconds. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.564759 ms (missed cycles : 6).[0m ×2 + 4.31sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-06-11 19:18:46.122] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 1877.853 us (Expected < 1666.667 us) --> Read time : 818.369 us, Update time : 67.361 us, Write time : 992.123 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719233 ms (missed cycles : 2).[0m ×2 + 5.79sWARNcontroller_managerOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 3126.392 us (Expected < 1666.667 us) --> Read time : 350.128 us, Update time : 2140.909 us, Write time : 635.355 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809680 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_node[0;93m2026-06-11 19:18:48.467958802 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.64sINFOobjective_server_node[0;93m2026-06-11 19:18:48.468000493 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	36 warnings · 102 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 1.16sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	36 warnings · 102 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 1.16sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	36 warnings · 102 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 1.16sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	36 warnings · 102 info
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1781205530.91913319 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586856 ms (missed cycles : 3).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 3055.350 us (Expected < 1666.667 us) --> Read time : 191.714 us, Update time : 2241.272 us, Write time : 622.364 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1781205531.54575634 seconds. ×3 + 1.16sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083534636 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.17sINFOobjective_server_node[0;93m2026-06-11 19:18:52.083580367 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084012 ms (missed cycles : 4).[0m ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 3512.641 us (Expected < 1666.667 us) --> Read time : 217.635 us, Update time : 2805.285 us, Write time : 489.721 us[0m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586890867 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.67sINFOobjective_server_node[0;93m2026-06-11 19:18:52.586933838 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.709821090 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712591344 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-11 19:18:52.712660795 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.16sINFOobjective_server_node[0;93m2026-06-11 19:18:53.072732846 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093957794 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.18sINFOobjective_server_node[0;93m2026-06-11 19:18:53.093998775 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208853 ms (missed cycles : 7).[0m ×2 + 2.63sWARNcontroller_managerOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 1808.452 us (Expected < 1666.667 us) --> Read time : 274.687 us, Update time : 69.011 us, Write time : 1464.754 us[0m ×2 + 3.05sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1781205533.96824551 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956111 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1781205534.68874049 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us + 3.91sWARNros2_control_nodeOverrun might occur, Total time : 3531.661 us (Expected < 1666.667 us) --> Read time : 351.378 us, Update time : 219.395 us, Write time : 2960.888 us[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-06-11 19:18:55.086] [info] Accepted new action goal ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597632 ms (missed cycles : 3).[0m ×2 + 4.91sWARNcontroller_managerOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 5776.903 us (Expected < 1666.667 us) --> Read time : 285.577 us, Update time : 83.112 us, Write time : 5408.214 us[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926418 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 1755.811 us (Expected < 1666.667 us) --> Read time : 224.416 us, Update time : 70.651 us, Write time : 1460.744 us[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	273 errors · 39 warnings · 2107 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×386 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002232099296 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×772 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002232099296[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255006276 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255006276[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000182172266 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000182172266[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364005393 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000364005393[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002421252458 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002421252458[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170827849 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000170827849[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000302658643 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000302658643[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002515223274 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002515223274[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000294107078 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000294107078[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388153850 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000388153850[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001650545138 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001650545138[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000422390194 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000422390194[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142259289 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142259289[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165378348 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000165378348[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001353866544 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001353866544[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285615142 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000285615142[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001910326448 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001910326448[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286909533 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000286909533[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000211438018 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000211438018[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171068713 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000171068713[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000269245345 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000269245345[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371453851 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001371453851[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255600132 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000255600132[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195501057 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000195501057[0m ×2 + 0.22sWARNcontroller_managerOverrun might occur, Total time : 3072.120 us (Expected < 1666.667 us) --> Read time : 277.786 us, Update time : 104.173 us, Write time : 2690.161 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 3072.120 us (Expected < 1666.667 us) --> Read time : 277.786 us, Update time : 104.173 us, Write time : 2690.161 us[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153170021 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153170021[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000203022814 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000203022814[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000845170753 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000845170753[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000406438796 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000406438796[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152996319 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000152996319[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001243959243 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001243959243[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000297617951 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000297617951[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001483277443 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001483277443[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140677386 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140677386[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231461995 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231461995[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001303623396 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001303623396[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143900741 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000143900741[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214943868 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214943868[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001712684799 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001712684799[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001427313369 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001427313369[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216820920 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000216820920[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517823614 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517823614[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001584490030 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001584490030[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000276270103 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000276270103[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001386915690 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001386915690[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142672992 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142672992[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214405434 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000214405434[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001475084103 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001475084103[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144349262 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000144349262[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204409848 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000204409848[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001680719574 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001680719574[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385417456 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001385417456[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000208023835 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000208023835[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001774343806 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001774343806[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001144812935 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001144812935[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121117641 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121117641[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130696724 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001130696724[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001013762036 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001013762036[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001019952743 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001019952743[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001041501582 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001041501582[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000950086873 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000950086873[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164169189 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000164169189[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000872446755 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000872446755[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000927224009 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000927224009[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001294236529 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001294236529[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000809181004 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000809181004[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000699040096 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000699040096[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001210391464 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001210391464[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000969611273 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000969611273[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000796815934 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000796815934[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156252842 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156252842[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001098424442 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001098424442[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000899840067 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000899840067[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860539189 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860539189[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000876567662 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000876567662[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000695256255 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000695256255[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558941728 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000558941728[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450233514 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000450233514[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371768176 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000371768176[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000426366614 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000426366614[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000783280072 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000783280072[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627263798 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627263798[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501071161 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501071161[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501630662 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000501630662[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398404802 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398404802[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000316484939 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000316484939[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000251454852 ×2 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000251454852[0m ×4 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000199817633 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000199817633[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000158803862 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000158803862[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000126220036 ×2 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000126220036[0m ×4 + 0.85sINFOjoint_trajectory_controllerAccepted new action goal ×295 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102078 ms (missed cycles : 5). + 0.86sINFOros2_control_nodeAccepted new action goal[0m ×590 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102078 ms (missed cycles : 5).[0m ×2 + 1.28sWARNcontroller_managerOverrun might occur, Total time : 4077.822 us (Expected < 1666.667 us) --> Read time : 280.596 us, Update time : 3194.522 us, Write time : 602.704 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 4077.822 us (Expected < 1666.667 us) --> Read time : 280.596 us, Update time : 3194.522 us, Write time : 602.704 us[0m ×2 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842874 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842874 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 5693.320 us (Expected < 1666.667 us) --> Read time : 251.356 us, Update time : 81.032 us, Write time : 5360.932 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 5693.320 us (Expected < 1666.667 us) --> Read time : 251.356 us, Update time : 81.032 us, Write time : 5360.932 us[0m ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887854 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887854 ms (missed cycles : 3).[0m ×2 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 5356.972 us (Expected < 1666.667 us) --> Read time : 291.367 us, Update time : 4546.083 us, Write time : 519.522 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 5356.972 us (Expected < 1666.667 us) --> Read time : 291.367 us, Update time : 4546.083 us, Write time : 519.522 us[0m ×2 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1781205654.25452590 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017202 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017202 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1781205654.89096022 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.48sINFOros2_control_node[2026-06-11 19:20:55.075] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-06-11 19:20:55.075] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2291.972 us (Expected < 1666.667 us) --> Read time : 231.585 us, Update time : 93.262 us, Write time : 1967.125 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2291.972 us (Expected < 1666.667 us) --> Read time : 231.585 us, Update time : 93.262 us, Write time : 1967.125 us[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333273 ms (missed cycles : 7). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333273 ms (missed cycles : 7).[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 2450.185 us (Expected < 1666.667 us) --> Read time : 264.866 us, Update time : 1410.122 us, Write time : 775.197 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 2450.185 us (Expected < 1666.667 us) --> Read time : 264.866 us, Update time : 1410.122 us, Write time : 775.197 us[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615585 ms (missed cycles : 3). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615585 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 3569.731 us (Expected < 1666.667 us) --> Read time : 234.855 us, Update time : 280.977 us, Write time : 3053.899 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 3569.731 us (Expected < 1666.667 us) --> Read time : 234.855 us, Update time : 280.977 us, Write time : 3053.899 us[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 6.82sINFOros2_control_node[2026-06-11 19:20:57.414] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-06-11 19:20:57.414] [info] Accepted new action goal ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	40 warnings · 2580 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.35sWARNcontroller_managerOverrun might occur, Total time : 7090.911 us (Expected < 1666.667 us) --> Read time : 6333.024 us, Update time : 123.223 us, Write time : 634.664 us + 0.35sWARNros2_control_nodeOverrun might occur, Total time : 7090.911 us (Expected < 1666.667 us) --> Read time : 6333.024 us, Update time : 123.223 us, Write time : 634.664 us[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864652 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864652 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1819.281 us (Expected < 1666.667 us) --> Read time : 238.376 us, Update time : 1015.263 us, Write time : 565.642 us + 1.37sWARNros2_control_nodeOverrun might occur, Total time : 1819.281 us (Expected < 1666.667 us) --> Read time : 238.376 us, Update time : 1015.263 us, Write time : 565.642 us[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697167 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697167 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun might occur, Total time : 4534.142 us (Expected < 1666.667 us) --> Read time : 161.544 us, Update time : 3573.420 us, Write time : 799.178 us + 2.43sWARNros2_control_nodeOverrun might occur, Total time : 4534.142 us (Expected < 1666.667 us) --> Read time : 161.544 us, Update time : 3573.420 us, Write time : 799.178 us[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684968 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684968 ms (missed cycles : 2).[0m ×2 + 3.55sWARNcontroller_managerOverrun might occur, Total time : 1848.612 us (Expected < 1666.667 us) --> Read time : 820.389 us, Update time : 128.013 us, Write time : 900.210 us + 3.55sWARNros2_control_nodeOverrun might occur, Total time : 1848.612 us (Expected < 1666.667 us) --> Read time : 820.389 us, Update time : 128.013 us, Write time : 900.210 us[0m ×2 + 3.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1781205685.18806744 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211713 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211713 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1781205685.87818837 seconds. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeFound path in 5 iterations (0.00635189 s). ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2113.778 us (Expected < 1666.667 us) --> Read time : 875.640 us, Update time : 310.707 us, Write time : 927.431 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2113.778 us (Expected < 1666.667 us) --> Read time : 875.640 us, Update time : 310.707 us, Write time : 927.431 us[0m ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.62sINFOros2_control_node[2026-06-11 19:21:26.144] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-06-11 19:21:26.144] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953690 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953690 ms (missed cycles : 4).[0m ×2 + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4423.470 us (Expected < 1666.667 us) --> Read time : 217.855 us, Update time : 3528.930 us, Write time : 676.685 us + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4423.470 us (Expected < 1666.667 us) --> Read time : 217.855 us, Update time : 3528.930 us, Write time : 676.685 us[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662633 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662633 ms (missed cycles : 3).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390815 ms (missed cycles : 6). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.390815 ms (missed cycles : 6).[0m ×2 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 1937.293 us (Expected < 1666.667 us) --> Read time : 202.875 us, Update time : 451.810 us, Write time : 1282.608 us
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	42 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5).[0m ×2 + 2.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781205715.18838882 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781205715.91696882 seconds. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7).[0m ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us + 6.76sWARNros2_control_nodeOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	42 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 5573.675 us (Expected < 1666.667 us) --> Read time : 229.655 us, Update time : 4707.856 us, Write time : 636.164 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730423 ms (missed cycles : 5).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 4705.876 us (Expected < 1666.667 us) --> Read time : 218.785 us, Update time : 3837.566 us, Write time : 649.525 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.064366 ms (missed cycles : 8).[0m ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1933.783 us (Expected < 1666.667 us) --> Read time : 241.835 us, Update time : 734.367 us, Write time : 957.581 us[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232672 ms (missed cycles : 5).[0m ×2 + 2.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.56sWARNcontroller_managerOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 1669.798 us (Expected < 1666.667 us) --> Read time : 309.267 us, Update time : 69.652 us, Write time : 1290.879 us[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1781205715.18838882 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1781205715.91696882 seconds. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-06-11 19:21:56.141] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1887.532 us (Expected < 1666.667 us) --> Read time : 226.495 us, Update time : 333.847 us, Write time : 1327.190 us[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376246 ms (missed cycles : 4).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 4732.956 us (Expected < 1666.667 us) --> Read time : 4077.581 us, Update time : 80.162 us, Write time : 575.213 us[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.394078 ms (missed cycles : 7).[0m ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us + 6.76sWARNros2_control_nodeOverrun might occur, Total time : 1759.059 us (Expected < 1666.667 us) --> Read time : 583.513 us, Update time : 124.543 us, Write time : 1051.003 us[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322670 ms (missed cycles : 4).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 39 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751608 ms (missed cycles : 3).[0m ×2 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us + 0.23sWARNros2_control_nodeOverrun might occur, Total time : 6855.403 us (Expected < 1666.667 us) --> Read time : 325.157 us, Update time : 5995.424 us, Write time : 534.822 us[0m ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-06-11 19:22:03.371] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968668 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us + 1.40sWARNros2_control_nodeOverrun might occur, Total time : 9707.898 us (Expected < 1666.667 us) --> Read time : 234.926 us, Update time : 43.231 us, Write time : 9429.741 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186638 ms (missed cycles : 3).[0m ×2 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-06-11 19:22:05.031] [info] Accepted new action goal ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 1792.191 us (Expected < 1666.667 us) --> Read time : 280.697 us, Update time : 300.386 us, Write time : 1211.108 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246332 ms (missed cycles : 3).[0m ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-06-11 19:22:06.087] [info] Canceling active goal... ×2 + 3.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1781205726.10210991 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 7146.490 us (Expected < 1666.667 us) --> Read time : 336.638 us, Update time : 6195.609 us, Write time : 614.243 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626290 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1781205726.78129268 seconds. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-11 19:22:06.932] [info] Accepted new action goal ×2 + 4.79sWARNcontroller_managerOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us + 4.79sWARNros2_control_nodeOverrun might occur, Total time : 7823.435 us (Expected < 1666.667 us) --> Read time : 7168.681 us, Update time : 95.372 us, Write time : 559.382 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.238895 ms (missed cycles : 7).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 4890.620 us (Expected < 1666.667 us) --> Read time : 241.946 us, Update time : 4060.211 us, Write time : 588.463 us[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.105925 ms (missed cycles : 8).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 39 warnings · 39 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 8036.540 us (Expected < 1666.667 us) --> Read time : 355.248 us, Update time : 113.602 us, Write time : 7567.690 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 8036.540 us (Expected < 1666.667 us) --> Read time : 355.248 us, Update time : 113.602 us, Write time : 7567.690 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030315 ms (missed cycles : 5). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030315 ms (missed cycles : 5).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 5950.114 us (Expected < 1666.667 us) --> Read time : 342.448 us, Update time : 5040.063 us, Write time : 567.603 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 5950.114 us (Expected < 1666.667 us) --> Read time : 342.448 us, Update time : 5040.063 us, Write time : 567.603 us[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411434 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411434 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703180 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703180 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun might occur, Total time : 8438.149 us (Expected < 1666.667 us) --> Read time : 295.577 us, Update time : 78.132 us, Write time : 8064.440 us + 2.78sWARNros2_control_nodeOverrun might occur, Total time : 8438.149 us (Expected < 1666.667 us) --> Read time : 295.577 us, Update time : 78.132 us, Write time : 8064.440 us[0m ×2 + 3.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1781205736.88163090 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615535 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615535 ms (missed cycles : 3).[0m ×2 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 3291.054 us (Expected < 1666.667 us) --> Read time : 371.058 us, Update time : 2360.763 us, Write time : 559.233 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 3291.054 us (Expected < 1666.667 us) --> Read time : 371.058 us, Update time : 2360.763 us, Write time : 559.233 us[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1781205737.48588800 seconds. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.57sINFOros2_control_node[2026-06-11 19:22:17.767] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-06-11 19:22:17.767] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194220 ms (missed cycles : 3). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194220 ms (missed cycles : 3).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2154.549 us (Expected < 1666.667 us) --> Read time : 332.238 us, Update time : 731.246 us, Write time : 1091.065 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 2154.549 us (Expected < 1666.667 us) --> Read time : 332.238 us, Update time : 731.246 us, Write time : 1091.065 us[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014582 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014582 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun might occur, Total time : 2714.612 us (Expected < 1666.667 us) --> Read time : 428.340 us, Update time : 1476.083 us, Write time : 810.189 us + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 2714.612 us (Expected < 1666.667 us) --> Read time : 428.340 us, Update time : 1476.083 us, Write time : 810.189 us[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724316 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724316 ms (missed cycles : 2).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 42 warnings · 130 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 4.11sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 4.11sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 5.06sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 42 warnings · 130 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 4.11sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 4.11sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 5.06sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 42 warnings · 130 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400455 ms (missed cycles : 3).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us + 0.55sWARNros2_control_nodeOverrun might occur, Total time : 1776.840 us (Expected < 1666.667 us) --> Read time : 315.927 us, Update time : 488.071 us, Write time : 972.842 us[0m ×2 + 0.77sINFOros2_control_nodeMuJoCo sim: 1.47% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944366 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 2.76sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 2.77sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 4.11sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 4.11sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 5.06sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 5.28sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 39 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 4.24sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us + 5.75sWARNros2_control_nodeOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 errors · 39 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1937.854 us (Expected < 1666.667 us) --> Read time : 192.675 us, Update time : 1283.219 us, Write time : 461.960 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623739 ms (missed cycles : 3).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 5992.954 us (Expected < 1666.667 us) --> Read time : 265.256 us, Update time : 5145.995 us, Write time : 581.703 us[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.353494 ms (missed cycles : 4).[0m ×2 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1781205758.49431682 seconds ×3 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.086682 ms (missed cycles : 8).[0m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 1681.307 us (Expected < 1666.667 us) --> Read time : 317.357 us, Update time : 329.877 us, Write time : 1034.073 us[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1781205759.18996406 seconds. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3709.333 us (Expected < 1666.667 us) --> Read time : 241.275 us, Update time : 2871.845 us (Switch time : 2819.064 us (Switch chained mode time : 0.480 us, perform mode change time : 3.330 us, Activation time : 2809.593 us, Deactivation time : 0.330 us)), Write time : 596.213 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1781205759.28010511 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1781205759.88329792 seconds. ×3 + 3.50sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1781205759.90549803 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052948 ms (missed cycles : 2).[0m ×2 + 3.71sWARNcontroller_managerOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1752.909 us (Expected < 1666.667 us) --> Read time : 747.016 us, Update time : 79.642 us, Write time : 926.251 us[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1781205760.51578450 seconds. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 4.24sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-06-11 19:22:40.640] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.059208 ms (missed cycles : 8).[0m ×2 + 4.73sWARNcontroller_managerOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us + 4.73sWARNros2_control_nodeOverrun might occur, Total time : 2216.160 us (Expected < 1666.667 us) --> Read time : 236.916 us, Update time : 1513.454 us, Write time : 465.790 us[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107075 ms (missed cycles : 5).[0m ×2 + 5.75sWARNcontroller_managerOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us + 5.75sWARNros2_control_nodeOverrun might occur, Total time : 2135.288 us (Expected < 1666.667 us) --> Read time : 213.175 us, Update time : 1372.940 us, Write time : 549.173 us[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	8.1s	61 warnings · 570 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-11-19-17-20-496349-e1bb499dcd87-9135 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.63sINFOcontroller_managerupdate rate is 600 Hz + 1.63sINFOcontroller_managerOverruns handling is : enabled + 1.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.73sINFOros2_control_node-1process started with pid [9182] ×2 + 1.73sINFOmove_group-9process started with pid [9208] ×2 + 1.73sINFOparameter_manager_node-10process started with pid [9209] ×2 + 1.73sINFOwaypoint_manager_node-11process started with pid [9210] ×2 + 1.73sINFOmove_joint_resampler_node-12process started with pid [9211] ×2 + 1.73sINFOmove_end_effector_resampler_node-13process started with pid [9212] ×2 + 1.73sINFOobjective_server_node_main-14process started with pid [9213] ×2 + 1.73sINFOcomponent_container_mt-15process started with pid [9214] ×2 + 1.73sINFOexecute_objective_bridge-16process started with pid [9215] ×2 + 1.73sINFOui_teleop_bridge-17process started with pid [9216] ×2 + 1.73sINFOweb_bridge-18process started with pid [9217] ×2 + 1.73sINFOtf2_web_republisher_node-19process started with pid [9218] ×2 + 1.73sINFOweb_video_server-20process started with pid [9337] ×2 + 1.73sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9183] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9184] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9185] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9186] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9188] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9190] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9192] ×2 + 1.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.75sWARNros2_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 ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239700 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239700 ms (missed cycles : 2).[0m ×2 + 1.77sINFOcontroller_managerReceived robot description from topic. + 1.77sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.80sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.17sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.18sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973141 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973141 ms (missed cycles : 2).[0m ×2 + 2.97sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.03sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.09sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.09sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.28sINFOobjective_server_node[2026-06-11 19:17:25.459] [moveit_pro_license] [info] ×2 + 4.28sINFOobjective_server_node************************************************* ×4 + 4.28sINFOobjective_server_node* MoveIt Pro License ×2 + 4.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.40sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.40sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.40sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.40sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.40sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.40sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.40sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.40sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.40sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.40sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.40sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.40sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.40sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.53sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.53sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.54sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 4.54sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 4.55sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.55sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.56sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 4.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 4.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.57sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 4943.953 us (Expected < 1666.667 us) --> Read time : 240.885 us, Update time : 4042.903 us (Switch time : 4027.712 us (Switch chained mode time : 1.070 us, perform mode change time : 5.670 us, Activation time : 4010.242 us, Deactivation time : 1.030 us)), Write time : 660.165 us + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176840 ms (missed cycles : 4). + 4.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 4943.953 us (Expected < 1666.667 us) --> Read time : 240.885 us, Update time : 4042.903 us (Switch time : 4027.712 us (Switch chained mode time : 1.070 us, perform mode change time : 5.670 us, Activation time : 4010.242 us, Deactivation time : 1.030 us)), Write time : 660.165 us[0m ×2 + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176840 ms (missed cycles : 4).[0m ×2 + 4.57sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 4.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.68sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.70sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.70sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.70sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.80sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.80sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9184] ×2 + 4.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.88sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 4.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 4.93sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 4.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 4.93sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.93sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.94sINFOforce_torque_sensor_broadcasterconfigure successful + 4.94sINFOros2_control_nodeconfigure successful[0m ×2 + 4.94sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.94sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.95sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 4.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 4.98sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 5.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.09sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.13sWARNcontroller_managerOverrun might occur, Total time : 2821.165 us (Expected < 1666.667 us) --> Read time : 1273.759 us, Update time : 225.115 us, Write time : 1322.291 us + 5.13sWARNros2_control_nodeOverrun might occur, Total time : 2821.165 us (Expected < 1666.667 us) --> Read time : 1273.759 us, Update time : 225.115 us, Write time : 1322.291 us[0m ×2 + 5.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.26sINFOmove_group ×4 + 5.26sINFOmove_group[92mYou can start planning now![0m ×2 + 5.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9183] ×2 + 5.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 5.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 5.42sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 5.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 5.42sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.42sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.46sINFOros2_control_node[2026-06-11 19:17:26.639] [info] Controller state will be published at 10 Hz. ×2 + 5.46sINFOros2_control_node[2026-06-11 19:17:26.640] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9190] ×2 + 5.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 5.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 5.84sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 5.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 5.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.84sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.84sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.87sINFOros2_control_node[2026-06-11 19:17:27.048] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.87sINFOros2_control_node[2026-06-11 19:17:27.048] [info] Controller state will be published at 50 Hz. ×2 + 5.87sINFOros2_control_node[2026-06-11 19:17:27.054] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.18sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 6.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 6.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9188] ×2 + 6.23sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 6.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 6.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.23sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 6.23sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 6.23sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 6.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.23sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.23sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 6.23sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 6.23sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 6.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.24sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 6.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us[0m ×2 + 6.56sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 6.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.57sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 6.57sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 6.65sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.65sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 6.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 6.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.66sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.66sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.66sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.66sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.66sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.66sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.67sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 6.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 6.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 6.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 6.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 7.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 7.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 7.09sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 7.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 7.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.14sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 7.14sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 7.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 7.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 7.91sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 7.91sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 8.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 8.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 9.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 9.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 9.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 9.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 9.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 10.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 10.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 10.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 11.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3
✓ passed	—	reset_planning_scene.xml	0.8s	44 warnings · 344 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.09sWARNobjective_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/. ×2 + 0.09sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.11sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.53sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.58sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 0.58sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 4.72sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.26sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 7.01sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2
✓ passed	—	vector_subtrees_example.xml	0.7s	48 warnings · 255 info
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 5.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.42sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 7.03sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.31sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 7.31sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	9 warnings · 106 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-11-19-17-20-496349-e1bb499dcd87-9135 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.63sINFOcontroller_managerupdate rate is 600 Hz + 1.63sINFOcontroller_managerOverruns handling is : enabled + 1.63sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.63sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.73sINFOros2_control_node-1process started with pid [9182] ×2 + 1.73sINFOmove_group-9process started with pid [9208] ×2 + 1.73sINFOparameter_manager_node-10process started with pid [9209] ×2 + 1.73sINFOwaypoint_manager_node-11process started with pid [9210] ×2 + 1.73sINFOmove_joint_resampler_node-12process started with pid [9211] ×2 + 1.73sINFOmove_end_effector_resampler_node-13process started with pid [9212] ×2 + 1.73sINFOobjective_server_node_main-14process started with pid [9213] ×2 + 1.73sINFOcomponent_container_mt-15process started with pid [9214] ×2 + 1.73sINFOexecute_objective_bridge-16process started with pid [9215] ×2 + 1.73sINFOui_teleop_bridge-17process started with pid [9216] ×2 + 1.73sINFOweb_bridge-18process started with pid [9217] ×2 + 1.73sINFOtf2_web_republisher_node-19process started with pid [9218] ×2 + 1.73sINFOweb_video_server-20process started with pid [9337] ×2 + 1.73sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9183] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9184] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9185] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9186] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9188] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9190] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9192] ×2 + 1.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.75sWARNros2_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 ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239700 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239700 ms (missed cycles : 2).[0m ×2 + 1.77sINFOcontroller_managerReceived robot description from topic. + 1.77sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.79sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.79sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.80sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.81sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.17sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.18sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.18sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973141 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973141 ms (missed cycles : 2).[0m ×2 + 2.97sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	53 warnings · 386 info
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.054] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9188] ×2 + 0.44sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.46sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us[0m ×2 + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.86sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.19sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 1.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.31sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 2.13sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 6.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 6.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	53 warnings · 386 info
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.054] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9188] ×2 + 0.44sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.46sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us[0m ×2 + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.86sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.19sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 1.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.31sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 2.13sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 6.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 6.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	53 warnings · 386 info
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-06-11 19:17:27.022] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.048] [info] Controller state will be published at 50 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-11 19:17:27.054] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9188] ×2 + 0.44sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.44sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.44sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.44sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.46sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.894990 ms (missed cycles : 5).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 2099.917 us (Expected < 1666.667 us) --> Read time : 212.454 us, Update time : 1280.439 us, Write time : 607.024 us[0m ×2 + 0.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.86sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.86sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.19sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 1.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 1.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 1.31sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 2.13sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 2.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 4.30sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 4.31sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.22sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 6.22sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 6.75sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 6.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 6.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2
− skipped	—	request_teleoperation.xml	0.0s	38 warnings · 344 info
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9185] ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.09sWARNobjective_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/. ×2 + 0.09sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.11sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9186] ×2 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_t6_b59zg --params-file /tmp/launch_params_m3g_zl4t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9n3ouz34 --params-file /tmp/launch_params_uwucw56h [0m ×2 + 0.53sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.58sINFOros2_control_node[2026-06-11 19:17:28.317] [info] Controller state will be published at 20 Hz. ×2 + 0.58sINFOros2_control_node[2026-06-11 19:17:28.320] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 3.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 3.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 4.72sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 4.72sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 6.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 6.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.26sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2
− skipped	—	teleoperate.xml	0.0s	42 warnings · 250 info
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781205448.57923341 seconds. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781205448.58950996 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2). + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112977 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9192] ×2 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us + 0.52sWARNros2_control_nodeOverrun might occur, Total time : 2420.206 us (Expected < 1666.667 us) --> Read time : 226.756 us, Update time : 651.515 us, Write time : 1541.935 us[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.70sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.88sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.88sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.62sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 5.14sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 5.15sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 5.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.42sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	move_to_pose.xml	0.1s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.7s	42 warnings · 233 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2 + 7.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.39sINFOros2_control_node[2026-06-11 19:17:36.573] [info] Received new action goal ×2 + 7.39sINFOros2_control_node[2026-06-11 19:17:36.573] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	42 warnings · 222 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1781205449.18279266 seconds. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148399 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1781205450.24296570 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 3902.128 us (Expected < 1666.667 us) --> Read time : 287.456 us, Update time : 3044.899 us, Write time : 569.773 us[0m ×2 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064965 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1781205450.83549929 seconds. ×3 + 1.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1781205450.89567375 seconds ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 4149.714 us (Expected < 1666.667 us) --> Read time : 228.085 us, Update time : 3296.735 us, Write time : 624.894 us[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781205451.65515900 seconds. ×3 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781205451.67529750 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921318 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781205452.26210284 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781205452.41294789 seconds ×3 + 3.28sWARNcontroller_managerOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us + 3.28sWARNros2_control_nodeOverrun might occur, Total time : 2610.400 us (Expected < 1666.667 us) --> Read time : 348.218 us, Update time : 1668.848 us, Write time : 593.334 us[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221657 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781205453.12659168 seconds. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sWARNcontroller_managerOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us + 4.01sWARNros2_control_nodeOverrun might occur, Total time : 6354.866 us (Expected < 1666.667 us) --> Read time : 255.566 us, Update time : 5581.218 us (Switch time : 4830.381 us (Switch chained mode time : 0.550 us, perform mode change time : 6.020 us, Activation time : 4814.421 us, Deactivation time : 0.370 us)), Write time : 518.082 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781205453.19672537 seconds ×3 + 4.54sWARNcontroller_managerOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 1785.271 us (Expected < 1666.667 us) --> Read time : 525.192 us, Update time : 269.356 us, Write time : 990.723 us[0m ×2 + 4.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1781205453.86840463 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499905 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.989e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-06-11 19:17:34.001] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 2222.841 us (Expected < 1666.667 us) --> Read time : 326.377 us, Update time : 236.306 us, Write time : 1660.158 us[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559493 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 1.02% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 1771.020 us (Expected < 1666.667 us) --> Read time : 212.094 us, Update time : 89.752 us, Write time : 1469.174 us[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859967 ms (missed cycles : 2).[0m ×2