67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.7s | 3 errors · 225 warnings · 267 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.665ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884247 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884247 ms (missed cycles : 2).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 0.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.794ms + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.869ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494915 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494915 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.666ms ×2 + 1.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.745ms ×2 + 2.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.826ms ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832680 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832680 ms (missed cycles : 5).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.184ms + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.672ms ×2 + 3.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.947ms + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798844 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798844 ms (missed cycles : 2).[0m ×2 + 3.58sINFOjoint_trajectory_controllerGot request to cancel goal + 3.58sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.58sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.58sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781808219.73515868 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.674ms + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.671ms ×2 + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781808220.27664709 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259435 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259435 ms (missed cycles : 3).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.872ms + 5.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.179ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.246ms + 5.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.858ms + 5.43sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.43sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832558 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832558 ms (missed cycles : 2).[0m ×2 + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.023ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms ×3 + 6.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.816ms + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.144ms + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035667 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035667 ms (missed cycles : 2).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589474 ms (missed cycles : 5). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589474 ms (missed cycles : 5).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.983ms ×2 + 8.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.994ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524606 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524606 ms (missed cycles : 5).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658928 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658928 ms (missed cycles : 4).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.678ms + 10.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.557ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572784 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572784 ms (missed cycles : 4).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.771ms + 11.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.740ms ×2 + 11.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 12.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.584ms + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891607 ms (missed cycles : 3). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891607 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.040ms + 12.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.209ms + 13.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.712ms + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593726 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593726 ms (missed cycles : 2).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.632ms + 14.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.574ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835207 ms (missed cycles : 3). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835207 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.766ms + 15.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.789ms ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141189 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141189 ms (missed cycles : 4).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.623ms + 16.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.634ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289874 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289874 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.603ms + 17.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.782ms + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205692 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205692 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.594ms + 18.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.953ms + 18.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.702ms + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923313 ms (missed cycles : 3). + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923313 ms (missed cycles : 3).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.932ms ×2 + 19.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.676ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011912 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011912 ms (missed cycles : 2).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.748ms + 20.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.731ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014114 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014114 ms (missed cycles : 2).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.073ms + 21.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.174ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307188 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307188 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.877ms ×2 + 22.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.653ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163270 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163270 ms (missed cycles : 2).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.642ms ×2 + 22.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.252ms + 22.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.900ms + 23.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.002ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822377 ms (missed cycles : 3). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822377 ms (missed cycles : 3).[0m ×2 + 23.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.685ms + 24.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.848ms + 24.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.903ms ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889769 ms (missed cycles : 3). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889769 ms (missed cycles : 3).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.710ms + 25.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.974ms + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925283 ms (missed cycles : 5). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925283 ms (missed cycles : 5).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.609ms + 26.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.057ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952520 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952520 ms (missed cycles : 2).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.053ms + 27.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.052ms + 27.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.810ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517080 ms (missed cycles : 2). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517080 ms (missed cycles : 2).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058520 ms (missed cycles : 2). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058520 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.738ms + 29.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.117ms + 29.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.238ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420675 ms (missed cycles : 3). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420675 ms (missed cycles : 3).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.821ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076002 ms (missed cycles : 2). + 30.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.028ms + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076002 ms (missed cycles : 2).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.061ms + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988834 ms (missed cycles : 2). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988834 ms (missed cycles : 2).[0m ×2 + 32.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms ×2 + 32.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.109ms + 32.75sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.75sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.96sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468512 ms (missed cycles : 5). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.468512 ms (missed cycles : 5).[0m ×2 + 33.61sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 34.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219652 ms (missed cycles : 5). + 34.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219652 ms (missed cycles : 5).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.852ms + 34.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.977ms + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051122 ms (missed cycles : 2). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051122 ms (missed cycles : 2).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574717 ms (missed cycles : 4). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574717 ms (missed cycles : 4).[0m ×2 + 36.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.962ms + 36.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.019ms + 36.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.746ms + 36.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.811ms ×4 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319348 ms (missed cycles : 2). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319348 ms (missed cycles : 2).[0m ×2 + 37.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.638ms + 37.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.645ms + 38.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.553ms + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761903 ms (missed cycles : 2). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761903 ms (missed cycles : 2).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.698ms + 39.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.268ms + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632341 ms (missed cycles : 4). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632341 ms (missed cycles : 4).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.857ms ×2 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196087 ms (missed cycles : 2). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196087 ms (missed cycles : 2).[0m ×2 + 40.83sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.014ms + 41.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.355ms + 41.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.805ms + 41.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.874ms ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325049 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325049 ms (missed cycles : 2).[0m ×2 + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.958386 ms (missed cycles : 6). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.958386 ms (missed cycles : 6).[0m ×2 + 43.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.292ms + 43.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.207ms + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953749 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953749 ms (missed cycles : 2).[0m ×2 + 44.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.995ms + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543874 ms (missed cycles : 4). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543874 ms (missed cycles : 4).[0m ×2 + 45.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.799ms + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326664 ms (missed cycles : 3). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326664 ms (missed cycles : 3).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.940ms + 46.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.923ms + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345773 ms (missed cycles : 2). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345773 ms (missed cycles : 2).[0m ×2 + 47.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.737ms + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889885 ms (missed cycles : 3). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889885 ms (missed cycles : 3).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.105ms + 48.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.313ms + 48.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.598ms + 48.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.941ms + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343556 ms (missed cycles : 2). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343556 ms (missed cycles : 2).[0m ×2 + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.069294 ms (missed cycles : 7). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.069294 ms (missed cycles : 7).[0m ×2 + 50.37sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 51.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.690ms + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933156 ms (missed cycles : 6). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933156 ms (missed cycles : 6).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.363ms + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019916 ms (missed cycles : 3). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019916 ms (missed cycles : 3).[0m ×2 + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861861 ms (missed cycles : 2). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861861 ms (missed cycles : 2).[0m ×2 + 53.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.512ms + 53.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.899ms + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620568 ms (missed cycles : 3). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620568 ms (missed cycles : 3).[0m ×2 + 54.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.084ms + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280007 ms (missed cycles : 6). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280007 ms (missed cycles : 6).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.720ms + 55.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.795ms + 56.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.223ms + 56.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.003ms + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850721 ms (missed cycles : 2). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850721 ms (missed cycles : 2).[0m ×2 + 56.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.908ms + 57.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779042 ms (missed cycles : 2). + 57.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779042 ms (missed cycles : 2).[0m ×2 + 57.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.029ms + 58.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.018ms + 58.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.762ms + 58.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.937ms + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555624 ms (missed cycles : 4). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555624 ms (missed cycles : 4).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.035ms + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122494 ms (missed cycles : 2). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122494 ms (missed cycles : 2).[0m ×2 + 60.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.792ms + 60.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.782827 ms (missed cycles : 6). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.782827 ms (missed cycles : 6).[0m ×2 + 60.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.566ms + 61.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131785 ms (missed cycles : 2). + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131785 ms (missed cycles : 2).[0m ×2 + 61.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.956ms + 62.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833243 ms (missed cycles : 3). + 62.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833243 ms (missed cycles : 3).[0m ×2 + 62.71sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 63.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.928ms + 63.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915481 ms (missed cycles : 3). + 63.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915481 ms (missed cycles : 3).[0m ×2 + 64.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200226 ms (missed cycles : 2). + 64.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200226 ms (missed cycles : 2).[0m ×2 + 65.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.750ms ×2 + 65.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256420 ms (missed cycles : 4). + 65.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256420 ms (missed cycles : 4).[0m ×2 + 65.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 66.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871516 ms (missed cycles : 2). + 66.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871516 ms (missed cycles : 2).[0m ×2 + 66.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.878ms + 67.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680118 ms (missed cycles : 4). + 67.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680118 ms (missed cycles : 4).[0m ×2 + 68.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.219ms + 68.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.176ms + 68.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.621ms + 68.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300595 ms (missed cycles : 5). + 68.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300595 ms (missed cycles : 5).[0m ×2 + 68.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.241ms + 69.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.079ms + 69.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923457 ms (missed cycles : 2). + 69.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923457 ms (missed cycles : 2).[0m ×2 + 70.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.000ms + 70.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815888 ms (missed cycles : 2). + 70.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815888 ms (missed cycles : 2).[0m ×2 + 70.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.077ms + 71.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.967ms + 71.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 71.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 71.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 73.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 73.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 73.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 73.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 74.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 74.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 75.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 75.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 75.30sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 75.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 75.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 75.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 76.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 76.18sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 76.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 76.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 76.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 76.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 77.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 77.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 78.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 78.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 78.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.7s | 183 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3).[0m ×2 + 0.08sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.08sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781808060.25981355 seconds ×3 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781808060.80221653 seconds. ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (2.9273e-05 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.46sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.46sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.46sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.46sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781808063.70234251 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781808064.23851371 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738318 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738318 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022250 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022250 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381627 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381627 ms (missed cycles : 5).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823129 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823129 ms (missed cycles : 2).[0m ×2 + 7.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.379ms + 7.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.446ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769848 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769848 ms (missed cycles : 5).[0m ×2 + 8.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.941ms + 8.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.361ms + 9.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.868ms + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.306ms + 9.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.111ms + 9.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.489ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367245 ms (missed cycles : 5). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367245 ms (missed cycles : 5).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.720ms + 10.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.630ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691639 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691639 ms (missed cycles : 3).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.726ms + 11.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 11.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.754ms ×2 + 11.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.836ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407630 ms (missed cycles : 4). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407630 ms (missed cycles : 4).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.419ms + 12.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.017ms + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799715 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799715 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.734ms + 13.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.368ms + 13.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.618ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178902 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178902 ms (missed cycles : 3).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.508ms + 14.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.539ms + 14.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.932ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666440 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666440 ms (missed cycles : 2).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.972ms + 15.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.047ms + 15.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.735ms + 15.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.803ms + 15.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.587ms + 15.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.048ms + 15.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.860ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187808 ms (missed cycles : 5). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.187808 ms (missed cycles : 5).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.040ms + 16.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.753ms ×2 + 16.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.215ms + 16.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.055ms + 16.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.518ms + 16.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.746ms + 16.81sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912653 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912653 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.196ms + 17.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms + 17.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.059ms + 17.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.152ms + 17.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.833ms + 17.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.850ms ×2 + 17.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.078ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526176 ms (missed cycles : 4). + 18.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526176 ms (missed cycles : 4).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.323ms + 18.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.401ms + 18.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.936ms + 18.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.687ms + 18.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.074ms + 18.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.706ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459909 ms (missed cycles : 4). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459909 ms (missed cycles : 4).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.857ms + 19.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.355ms + 19.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.697ms + 19.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.354ms + 19.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.011ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881742 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881742 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.057ms + 20.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.272ms + 20.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.197ms + 20.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.147ms + 20.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.613ms + 20.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.691ms + 20.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.355ms + 20.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.035ms + 20.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.777ms + 21.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.037ms + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552938 ms (missed cycles : 3). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552938 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.066ms + 21.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.353ms + 21.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.101ms + 21.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.068ms + 21.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.884ms + 21.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.849ms + 21.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.609ms + 21.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.963ms + 22.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.427ms + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548803 ms (missed cycles : 2). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548803 ms (missed cycles : 2).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.991ms + 22.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.858ms ×2 + 22.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.058ms + 22.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 22.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.039ms ×2 + 22.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.926ms + 22.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.804ms + 22.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 23.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.888ms + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683076 ms (missed cycles : 2). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683076 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.928ms + 23.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.995ms + 23.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.927ms + 23.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.914ms + 23.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.905ms ×2 + 23.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.332ms + 23.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.595ms + 24.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.063ms + 24.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.989ms + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989692 ms (missed cycles : 2). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989692 ms (missed cycles : 2).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.969ms + 24.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.941ms ×2 + 24.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.573ms ×2 + 24.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.601ms + 24.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.520ms + 24.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.913ms + 25.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.005ms + 25.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.653ms + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329100 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329100 ms (missed cycles : 2).[0m ×2 + 25.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.660ms + 26.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.874ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011179 ms (missed cycles : 2). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011179 ms (missed cycles : 2).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.239ms + 26.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.487ms + 26.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.934ms + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984257 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984257 ms (missed cycles : 2).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.937ms + 27.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.912ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916988 ms (missed cycles : 5). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916988 ms (missed cycles : 5).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.972ms + 28.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.693ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504468 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504468 ms (missed cycles : 3).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.424ms + 29.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.017ms ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747802 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747802 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms ×2 + 31.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.716ms + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298140 ms (missed cycles : 2). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298140 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.869ms + 31.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.993ms ×2 + 32.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.895ms + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964037 ms (missed cycles : 2). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964037 ms (missed cycles : 2).[0m ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034649 ms (missed cycles : 3). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034649 ms (missed cycles : 3).[0m ×2 + 34.35sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966426 ms (missed cycles : 2). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966426 ms (missed cycles : 2).[0m ×2 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020028 ms (missed cycles : 5). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020028 ms (missed cycles : 5).[0m ×2 + 36.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.425ms + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320540 ms (missed cycles : 2). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320540 ms (missed cycles : 2).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358649 ms (missed cycles : 4). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358649 ms (missed cycles : 4).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693674 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693674 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094090 ms (missed cycles : 5). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094090 ms (missed cycles : 5).[0m ×2 + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327153 ms (missed cycles : 4). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327153 ms (missed cycles : 4).[0m ×2 + 41.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.049ms + 41.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.760ms + 41.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.076ms + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813112 ms (missed cycles : 2). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813112 ms (missed cycles : 2).[0m ×2 + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731225 ms (missed cycles : 2). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731225 ms (missed cycles : 2).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255709 ms (missed cycles : 2). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255709 ms (missed cycles : 2).[0m ×2 + 44.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.998ms + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478833 ms (missed cycles : 4). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478833 ms (missed cycles : 4).[0m ×2 + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329776 ms (missed cycles : 2). + 46.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329776 ms (missed cycles : 2).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781804 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781804 ms (missed cycles : 2).[0m ×2 + 48.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.715ms + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877326 ms (missed cycles : 2). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877326 ms (missed cycles : 2).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.002ms + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559747 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559747 ms (missed cycles : 2).[0m ×2 + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192587 ms (missed cycles : 5). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192587 ms (missed cycles : 5).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.124ms + 50.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.081ms + 51.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.704343 ms (missed cycles : 6). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.704343 ms (missed cycles : 6).[0m ×2 + 52.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.903ms + 52.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.045ms + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445214 ms (missed cycles : 4). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445214 ms (missed cycles : 4).[0m ×2 + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828138 ms (missed cycles : 2). + 53.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828138 ms (missed cycles : 2).[0m ×2 + 54.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.960ms + 54.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.313ms + 54.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.414ms + 54.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.973ms + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168304 ms (missed cycles : 4). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168304 ms (missed cycles : 4).[0m ×2 + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735527 ms (missed cycles : 2). + 55.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735527 ms (missed cycles : 2).[0m ×2 + 56.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 58.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 59.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 60.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 60.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 60.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 60.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 60.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 60.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 60.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 61.07sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 61.09sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.63sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 61.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 62.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 62.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 62.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms + 62.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 62.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 63.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 63.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 63.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 63.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 177 warnings · 178 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.39sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms ×2 + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×3 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.47sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021669 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021669 ms (missed cycles : 2).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.892ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644846 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644846 ms (missed cycles : 3).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.794ms + 9.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.608ms ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745835 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745835 ms (missed cycles : 3).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.564ms ×2 + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.566ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686320 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.533ms + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587119 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587119 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.578ms ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557017 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557017 ms (missed cycles : 2).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.828ms + 13.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.546ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411605 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411605 ms (missed cycles : 2).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.535ms + 14.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.835ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718295 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718295 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.530ms + 15.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.649ms + 15.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.098ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457092 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457092 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.603ms + 16.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.784ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417423 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417423 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.961ms + 17.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.220ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483754 ms (missed cycles : 5). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483754 ms (missed cycles : 5).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.789ms + 18.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.574ms + 19.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.936ms + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798121 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798121 ms (missed cycles : 2).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.664ms + 20.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.844ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728608 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728608 ms (missed cycles : 2).[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.742ms + 20.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.091ms + 20.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.119ms + 20.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.734ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550006 ms (missed cycles : 4). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550006 ms (missed cycles : 4).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.689ms + 21.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.391ms + 22.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529670 ms (missed cycles : 4). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529670 ms (missed cycles : 4).[0m ×2 + 22.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.778ms + 22.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.781ms + 22.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.602ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.277648 ms (missed cycles : 5). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.277648 ms (missed cycles : 5).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.683ms + 23.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.586ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937387 ms (missed cycles : 3). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937387 ms (missed cycles : 3).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.625ms + 24.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.666ms + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990184 ms (missed cycles : 5). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990184 ms (missed cycles : 5).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.907ms + 25.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.873ms + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800814 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800814 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.656ms + 26.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.147ms + 27.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.833ms ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082396 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082396 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.891ms + 28.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222926 ms (missed cycles : 2). + 28.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222926 ms (missed cycles : 2).[0m ×2 + 28.94sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.699ms + 29.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.779ms + 29.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.856ms + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240798 ms (missed cycles : 4). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240798 ms (missed cycles : 4).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.014ms + 30.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.070ms + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043328 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043328 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.025ms + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438471 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438471 ms (missed cycles : 2).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.158ms + 32.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.268ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936072 ms (missed cycles : 5). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936072 ms (missed cycles : 5).[0m ×2 + 32.74sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823830 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823830 ms (missed cycles : 3).[0m ×2 + 33.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.310ms + 33.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.758ms + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727769 ms (missed cycles : 2). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727769 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267652 ms (missed cycles : 3). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267652 ms (missed cycles : 3).[0m ×2 + 36.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.325ms + 36.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.251ms + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542980 ms (missed cycles : 3). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542980 ms (missed cycles : 3).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344612 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344612 ms (missed cycles : 2).[0m ×2 + 38.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.137ms + 38.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.106ms + 38.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.914ms + 38.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139339 ms (missed cycles : 4). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139339 ms (missed cycles : 4).[0m ×2 + 39.02sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.130ms + 39.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.832ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101691 ms (missed cycles : 5). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101691 ms (missed cycles : 5).[0m ×2 + 40.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.259ms + 41.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.896ms + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371762 ms (missed cycles : 2). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371762 ms (missed cycles : 2).[0m ×2 + 42.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673572 ms (missed cycles : 4). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673572 ms (missed cycles : 4).[0m ×2 + 42.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.640ms + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844587 ms (missed cycles : 3). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844587 ms (missed cycles : 3).[0m ×2 + 43.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.175ms + 43.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.746ms + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443347 ms (missed cycles : 2). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443347 ms (missed cycles : 2).[0m ×2 + 45.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.845ms + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021146 ms (missed cycles : 3). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021146 ms (missed cycles : 3).[0m ×2 + 45.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.054ms + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437799 ms (missed cycles : 3). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437799 ms (missed cycles : 3).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774696 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774696 ms (missed cycles : 2).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.720ms + 48.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324283 ms (missed cycles : 3). + 48.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324283 ms (missed cycles : 3).[0m ×2 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240670 ms (missed cycles : 5). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.240670 ms (missed cycles : 5).[0m ×2 + 49.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.770ms + 49.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.840ms + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959462 ms (missed cycles : 3). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959462 ms (missed cycles : 3).[0m ×2 + 51.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766087 ms (missed cycles : 2). + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766087 ms (missed cycles : 2).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.869ms + 52.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.911ms + 52.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.823ms + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809239 ms (missed cycles : 3). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809239 ms (missed cycles : 3).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799279 ms (missed cycles : 3). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799279 ms (missed cycles : 3).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.731ms + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462343 ms (missed cycles : 2). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462343 ms (missed cycles : 2).[0m ×2 + 54.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.803ms + 54.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.246ms + 55.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.906ms + 55.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.172ms + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932391 ms (missed cycles : 2). + 55.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932391 ms (missed cycles : 2).[0m ×2 + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975307 ms (missed cycles : 3). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975307 ms (missed cycles : 3).[0m ×2 + 57.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.117ms + 57.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.594ms + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238260 ms (missed cycles : 4). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238260 ms (missed cycles : 4).[0m ×2 + 57.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.316ms + 58.52sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781808346.53616595 seconds ×3 + 58.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.769ms + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047227 ms (missed cycles : 2). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047227 ms (missed cycles : 2).[0m ×2 + 58.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.497ms + 59.07sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781808347.08631253 seconds. ×3 + 59.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.685ms + 59.35sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 59.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180160 ms (missed cycles : 2). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180160 ms (missed cycles : 2).[0m ×2 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376523 ms (missed cycles : 2). + 61.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376523 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.5s | 168 warnings · 217 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.558ms + 0.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.425ms + 0.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.428ms + 1.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.222ms ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.120ms ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.469ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781808156.37416482 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.302ms + 4.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781808156.91462302 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6).[0m ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms ×2 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.003ms + 5.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.299ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 5.69sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.69sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.69sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 5.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.596ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.006ms ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.312ms + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666821 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666821 ms (missed cycles : 4).[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.127ms + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311704 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311704 ms (missed cycles : 4).[0m ×2 + 8.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.129ms + 9.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.963ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105101 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105101 ms (missed cycles : 2).[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.965ms + 10.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.971ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442663 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442663 ms (missed cycles : 3).[0m ×2 + 10.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.995ms + 11.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.440ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992284 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992284 ms (missed cycles : 2).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.286ms + 12.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.976ms + 12.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.117ms + 12.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.197ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341710 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341710 ms (missed cycles : 4).[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.947ms + 13.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.235ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129153 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129153 ms (missed cycles : 5).[0m ×2 + 14.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.951ms + 14.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.211ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754396 ms (missed cycles : 5). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754396 ms (missed cycles : 5).[0m ×2 + 15.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.254ms + 15.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.000ms ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669794 ms (missed cycles : 5). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669794 ms (missed cycles : 5).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.974ms ×3 + 16.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.013ms + 16.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.216ms + 17.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.189ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571540 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571540 ms (missed cycles : 2).[0m ×2 + 17.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.884ms + 18.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.953ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888803 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888803 ms (missed cycles : 3).[0m ×2 + 18.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.888ms + 18.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.435ms + 18.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.100ms + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964898 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964898 ms (missed cycles : 3).[0m ×2 + 19.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 19.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.203ms + 19.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.083ms ×2 + 20.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.169ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030520 ms (missed cycles : 5). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030520 ms (missed cycles : 5).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.394ms + 21.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.279ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053608 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053608 ms (missed cycles : 2).[0m ×2 + 21.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.906ms + 21.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.094ms + 22.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.479ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721655 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721655 ms (missed cycles : 2).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.980ms + 23.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.411ms + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222321 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222321 ms (missed cycles : 2).[0m ×2 + 23.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.097ms + 24.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.314ms ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740636 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740636 ms (missed cycles : 2).[0m ×2 + 24.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.163ms + 25.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.068ms + 25.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.041ms + 25.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.369ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553466 ms (missed cycles : 7). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.553466 ms (missed cycles : 7).[0m ×2 + 25.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.872ms + 26.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.962ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960999 ms (missed cycles : 2). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960999 ms (missed cycles : 2).[0m ×2 + 27.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.246ms + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894393 ms (missed cycles : 4). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894393 ms (missed cycles : 4).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 27.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.251ms + 28.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.079ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.634948 ms (missed cycles : 7). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.634948 ms (missed cycles : 7).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.907ms ×3 + 29.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.902ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772126 ms (missed cycles : 2). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772126 ms (missed cycles : 2).[0m ×2 + 29.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.366ms + 30.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.134ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807363 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807363 ms (missed cycles : 2).[0m ×2 + 30.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.955ms ×2 + 31.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.905ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466819 ms (missed cycles : 4). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466819 ms (missed cycles : 4).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.297ms + 32.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.052ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485776 ms (missed cycles : 2). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485776 ms (missed cycles : 2).[0m ×2 + 33.41sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374604 ms (missed cycles : 4). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374604 ms (missed cycles : 4).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.949ms + 34.09sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 34.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.061ms + 34.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188618 ms (missed cycles : 2). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188618 ms (missed cycles : 2).[0m ×2 + 35.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.045ms + 36.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.861ms + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745813 ms (missed cycles : 4). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745813 ms (missed cycles : 4).[0m ×2 + 36.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.541ms + 36.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.214ms + 36.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.132ms + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282082 ms (missed cycles : 4). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282082 ms (missed cycles : 4).[0m ×2 + 37.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.218ms + 37.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.062ms + 38.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.020ms + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999970 ms (missed cycles : 3). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999970 ms (missed cycles : 3).[0m ×2 + 38.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.255ms + 38.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.849ms + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222714 ms (missed cycles : 2). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222714 ms (missed cycles : 2).[0m ×2 + 39.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.931ms + 40.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.823ms + 40.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.039ms + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502724 ms (missed cycles : 4). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502724 ms (missed cycles : 4).[0m ×2 + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484706 ms (missed cycles : 4). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484706 ms (missed cycles : 4).[0m ×2 + 42.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.731ms + 42.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.356ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326927 ms (missed cycles : 4). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326927 ms (missed cycles : 4).[0m ×2 + 43.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.960ms + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327278 ms (missed cycles : 3). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327278 ms (missed cycles : 3).[0m ×2 + 43.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.836ms + 44.28sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.401ms + 44.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.997ms + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835121 ms (missed cycles : 5). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835121 ms (missed cycles : 5).[0m ×2 + 45.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.892ms + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000890 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000890 ms (missed cycles : 3).[0m ×2 + 46.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.105ms + 46.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.726ms + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895497 ms (missed cycles : 3). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895497 ms (missed cycles : 3).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.895ms + 47.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.899ms + 47.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.981ms + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909557 ms (missed cycles : 2). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909557 ms (missed cycles : 2).[0m ×2 + 48.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.768ms + 48.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.985ms + 48.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.954ms + 48.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629940 ms (missed cycles : 2). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629940 ms (missed cycles : 2).[0m ×2 + 49.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.237ms + 49.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.913ms + 49.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.908ms + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963543 ms (missed cycles : 3). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963543 ms (missed cycles : 3).[0m ×2 + 50.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.667ms + 51.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669917 ms (missed cycles : 2). + 51.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669917 ms (missed cycles : 2).[0m ×2 + 51.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.689ms + 52.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.813ms + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775566 ms (missed cycles : 2). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775566 ms (missed cycles : 2).[0m ×2 + 52.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.916ms + 53.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640623 ms (missed cycles : 4). + 53.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640623 ms (missed cycles : 4).[0m ×2 + 53.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.060ms + 53.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.920ms + 53.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.381ms + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424244 ms (missed cycles : 4). + 54.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424244 ms (missed cycles : 4).[0m ×2 + 54.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.769ms + 54.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.901ms + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064751 ms (missed cycles : 7). + 55.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064751 ms (missed cycles : 7).[0m ×2 + 56.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781808208.86476636 seconds ×3 + 56.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.663ms + 56.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142650 ms (missed cycles : 3). + 56.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142650 ms (missed cycles : 3).[0m ×2 + 56.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.811ms + 56.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781808209.40082741 seconds. ×3 + 56.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.938ms + 57.05sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 57.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.226ms + 57.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554145 ms (missed cycles : 3). + 57.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554145 ms (missed cycles : 3).[0m ×2 + 57.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.763ms + 57.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.835ms + 57.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.143ms + 57.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.874ms + 57.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.180ms + 58.03sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.009ms + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294350 ms (missed cycles : 2). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294350 ms (missed cycles : 2).[0m ×2 + 58.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.794ms + 59.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.761ms + 59.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.284ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 144 warnings · 1119 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.06sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.08sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.08sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.09sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.32sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.70sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.70sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.70sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.70sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.70sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.72sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.24sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.24sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.58sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.83sINFOmove_groupClearing octomap...[0m ×2 + 1.83sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 3.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.71sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.71sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.71sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873962 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873962 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579263 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579263 ms (missed cycles : 3).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229956 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229956 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116442 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116442 ms (missed cycles : 4).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070977 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070977 ms (missed cycles : 3).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433861 ms (missed cycles : 4). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433861 ms (missed cycles : 4).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783170 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783170 ms (missed cycles : 2).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886845 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886845 ms (missed cycles : 3).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729553 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729553 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239774 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239774 ms (missed cycles : 4).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196217 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196217 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958761 ms (missed cycles : 3). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958761 ms (missed cycles : 3).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157950 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157950 ms (missed cycles : 2).[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521010 ms (missed cycles : 4). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521010 ms (missed cycles : 4).[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845198 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845198 ms (missed cycles : 3).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650196 ms (missed cycles : 4). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650196 ms (missed cycles : 4).[0m ×2 + 23.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127102 ms (missed cycles : 5). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127102 ms (missed cycles : 5).[0m ×2 + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371405 ms (missed cycles : 2). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371405 ms (missed cycles : 2).[0m ×2 + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496366 ms (missed cycles : 4). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496366 ms (missed cycles : 4).[0m ×2 + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789644 ms (missed cycles : 3). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789644 ms (missed cycles : 3).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534275 ms (missed cycles : 3). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534275 ms (missed cycles : 3).[0m ×2 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766495 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766495 ms (missed cycles : 3).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949001 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949001 ms (missed cycles : 2).[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.972ms + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814953 ms (missed cycles : 4). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814953 ms (missed cycles : 4).[0m ×2 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753043 ms (missed cycles : 2). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753043 ms (missed cycles : 2).[0m ×2 + 33.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217688 ms (missed cycles : 4). + 33.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217688 ms (missed cycles : 4).[0m ×2 + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058914 ms (missed cycles : 5). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058914 ms (missed cycles : 5).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798037 ms (missed cycles : 3). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798037 ms (missed cycles : 3).[0m ×2 + 36.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334044 ms (missed cycles : 5). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.334044 ms (missed cycles : 5).[0m ×2 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451211 ms (missed cycles : 4). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451211 ms (missed cycles : 4).[0m ×2 + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737303 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737303 ms (missed cycles : 2).[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925186 ms (missed cycles : 3). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925186 ms (missed cycles : 3).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735617 ms (missed cycles : 4). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735617 ms (missed cycles : 4).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080126 ms (missed cycles : 3). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080126 ms (missed cycles : 3).[0m ×2 + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964987 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964987 ms (missed cycles : 3).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4).[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3).[0m ×2 + 47.33sINFOjoint_trajectory_controllerGoal reached, success! + 47.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781808060.25981355 seconds ×3 + 47.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781808060.80221653 seconds. ×3 + 48.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3).[0m ×2 + 48.69sINFOobjective_server_nodeFound path in 0 iterations (2.9273e-05 s). ×2 + 48.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2).[0m ×2 + 50.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.5s | 105 warnings · 368 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms ×2 + 0.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms ×2 + 0.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.968ms + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.724ms + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.339ms + 1.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.326ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.991ms + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.808ms ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820755 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820755 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.928ms + 2.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.769ms + 2.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.495ms + 2.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.914ms + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.62sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781808124.84666514 seconds ×3 + 2.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.986ms + 2.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.770ms + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.915ms + 3.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.069ms + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.408ms + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.233ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.887ms + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394775 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394775 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.805ms + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.253ms + 3.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.265ms + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.885ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.848ms + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.122ms ×2 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.036ms ×4 + 4.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781808126.38400674 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.081ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.909ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794014 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794014 ms (missed cycles : 2).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.155ms + 4.45sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). ×2 + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.545ms + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.166ms + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.856ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.899ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.664ms + 5.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.886ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.614ms + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.916ms + 5.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.412ms + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496849 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496849 ms (missed cycles : 3).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.579ms ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.906ms ×3 + 5.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.322ms + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.75sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.505ms ×2 + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.644ms + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.225ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.206ms ×2 + 6.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.773ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.256ms + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.890ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125791 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125791 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.370ms + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.929ms + 6.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.823ms + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.460ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.872ms + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.410ms + 7.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.981ms + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.609ms ×2 + 7.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.937ms + 7.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.847ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561908 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561908 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.877ms + 7.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.455ms + 7.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.443ms + 7.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.467ms + 7.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.807ms + 8.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.162ms ×2 + 8.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.235ms + 8.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.017ms ×2 + 8.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.240ms + 8.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.417ms + 8.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.007ms ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378727 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378727 ms (missed cycles : 4).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.987ms + 8.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.433ms + 8.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.093ms + 9.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.092ms ×2 + 9.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.019ms ×2 + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.637ms + 9.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.123ms + 9.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.268ms ×2 + 9.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.350ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294897 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294897 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.077ms + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.559ms + 10.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.439ms + 10.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.279ms ×2 + 10.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.038ms ×2 + 10.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.966ms + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.034ms + 10.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.170ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249519 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249519 ms (missed cycles : 2).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.046ms + 10.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.496ms + 10.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.366ms + 11.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.956ms + 11.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.197ms + 11.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.787ms + 11.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.031ms + 11.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.137ms + 11.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.111ms ×2 + 11.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.764ms + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.121ms ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481939 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481939 ms (missed cycles : 4).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.796ms + 11.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.735ms + 12.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.177ms + 12.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.947ms + 12.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.237ms + 12.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.281ms + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.740ms + 12.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.345ms + 12.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.779ms + 12.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.143ms + 12.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.139ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613941 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613941 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.178ms + 13.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.896ms + 13.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.152ms + 13.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.332ms + 13.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.729ms + 13.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.639ms + 13.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.480ms + 13.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.348ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722362 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722362 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.315ms + 14.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.184ms ×2 + 14.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.055ms ×2 + 14.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.241ms ×2 + 14.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.039ms ×2 + 14.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.174ms + 14.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.084ms + 14.72sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.050ms + 14.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.119ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113804 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113804 ms (missed cycles : 4).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.291ms + 15.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.994ms + 15.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.380ms + 15.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.656ms + 15.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.247ms + 15.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.061ms ×2 + 15.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.091ms ×2 + 16.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.261ms + 16.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.209ms + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934003 ms (missed cycles : 5). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934003 ms (missed cycles : 5).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.114ms + 16.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.816ms + 16.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.564ms + 16.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.089ms + 16.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.355ms + 16.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.492ms + 17.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.079ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974061 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974061 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.185ms + 17.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.099ms ×2 + 17.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.631ms + 17.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.172ms + 17.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.020ms + 17.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.980ms + 18.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.432ms + 18.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.809ms + 18.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.203ms + 18.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 18.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.407ms + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569850 ms (missed cycles : 4). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569850 ms (missed cycles : 4).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.705ms + 18.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.920ms + 18.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.094ms + 19.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.709ms + 19.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.193ms + 19.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.088ms + 19.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.833ms + 19.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.153ms + 19.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.086ms + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323793 ms (missed cycles : 3). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323793 ms (missed cycles : 3).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.416ms + 20.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.524ms + 20.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 20.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.187ms + 20.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.365ms + 20.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.129ms + 20.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.105ms + 20.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.960ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638623 ms (missed cycles : 3). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638623 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.147ms + 21.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.090ms + 21.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.329ms + 21.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.289ms + 21.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.494ms + 21.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.012ms + 21.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.988ms + 21.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 8.325ms + 21.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.995ms + 21.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.014ms + 21.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.482ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758208 ms (missed cycles : 3). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758208 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.971ms + 22.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.640ms + 22.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.102ms + 22.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.951ms + 22.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.804ms + 22.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.572ms + 22.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.898ms + 22.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.638ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747644 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747644 ms (missed cycles : 2).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.040ms + 23.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.932ms + 23.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.484ms + 23.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.889ms + 23.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.024ms + 23.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.990ms + 23.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.610ms + 23.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.891ms + 23.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.940ms + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751612 ms (missed cycles : 3). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751612 ms (missed cycles : 3).[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.047ms + 24.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.588ms + 24.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.053ms + 24.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.858ms + 24.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.154ms + 24.63sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.336ms + 24.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.586ms + 24.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.497ms + 24.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.989ms + 25.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.176ms + 25.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.964ms + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416202 ms (missed cycles : 2). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416202 ms (missed cycles : 2).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.857ms + 25.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.071ms + 25.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.961ms + 25.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.617ms + 25.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.999ms + 25.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.905ms + 25.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.287ms + 26.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.384ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985568 ms (missed cycles : 2). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985568 ms (missed cycles : 2).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.790ms + 26.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.594ms + 26.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.897ms + 26.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.733ms + 26.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.578ms + 26.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.565ms + 26.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.615ms + 27.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.642ms + 27.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 27.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.922ms + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181104 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181104 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.695ms ×2 + 27.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.710ms + 27.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.144ms + 27.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.499ms + 27.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.583ms + 27.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.515ms ×2 + 27.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.442ms + 28.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.452ms + 28.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.516ms + 28.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.430ms + 28.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.479ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411608 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411608 ms (missed cycles : 2).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.596ms ×2 + 28.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.075ms + 28.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.423ms + 28.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.709ms + 29.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.298ms + 29.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.300ms + 29.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.226ms + 29.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.378ms + 29.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.293ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147612 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147612 ms (missed cycles : 3).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.639ms + 29.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.303ms + 29.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.239ms + 29.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.576ms + 30.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.100ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.558ms + 31.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.425ms + 31.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.428ms + 31.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.222ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.120ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.469ms + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2).[0m ×2 + 34.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781808156.37416482 seconds ×3 + 34.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.302ms + 34.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 34.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781808156.91462302 seconds. ×3 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6).[0m ×2 + 34.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 34.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 35.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 35.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.003ms + 35.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.299ms + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5).[0m ×2 + 35.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 36.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 36.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.006ms + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.312ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.3s | 67 errors · 33 warnings · 375 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 1766 particles 91 points - 1.426ms + 0.77sINFOamclParticle filter update iteration stats: 1682 particles 91 points - 1.489ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4).[0m ×2 + 1.97sINFOamclParticle filter update iteration stats: 1619 particles 91 points - 1.068ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! + 2.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781808358.91783571 seconds ×3 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOamclParticle filter update iteration stats: 1788 particles 91 points - 1.305ms + 2.87sINFOamclParticle filter update iteration stats: 1714 particles 91 points - 1.409ms + 3.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781808359.49216104 seconds. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.05sINFOmove_groupClearing octomap...[0m ×2 + 3.05sINFOmove_groupOctomap cleared.[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1502 particles 91 points - 1.275ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 1406 particles 91 points - 1.195ms + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781808359.98228955 seconds ×3 + 3.57sINFOamclParticle filter update iteration stats: 1481 particles 91 points - 1.280ms + 3.87sINFOamclParticle filter update iteration stats: 1257 particles 91 points - 1.083ms + 3.99sINFOamclParticle filter update iteration stats: 1703 particles 91 points - 1.264ms + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.542ms + 4.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781808360.52127719 seconds. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4).[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.699ms + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781808360.91142750 seconds ×3 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.665ms + 4.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.464ms + 5.12sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.604ms + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.715ms + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773430 ms (missed cycles : 5). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773430 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031746 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031746 ms (missed cycles : 3).[0m ×2 + 7.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.585ms + 7.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.662ms + 7.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.613ms + 7.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.746ms + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946711 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946711 ms (missed cycles : 5).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361314 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361314 ms (missed cycles : 2).[0m ×2 + 10.75sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793829 ms (missed cycles : 3). + 10.89sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 10.92sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 10.96sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 10.97sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 10.99sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.01sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.02sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793829 ms (missed cycles : 3).[0m ×2 + 11.02sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.04sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.05sINFOweb_video_server-30process has finished cleanly [pid 9326] ×2 + 11.06sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.07sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.09sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.11sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.11sINFOcontroller_managerShutdown request received.... + 11.11sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.11sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.11sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.11sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.12sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.12sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.12sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.12sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.12sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.12sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.12sINFOcontroller_managerShutting down the controller manager. + 11.13sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.15sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.15sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9325] ×2 + 11.16sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.18sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.20sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.22sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.22sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.22sINFOmap_serverDeactivating + 11.22sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.22sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.22sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.5.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.22sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.22sINFOui_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 + 11.22sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.22sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.22sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.22sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.22sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.22sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.22sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.23sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.23sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.23sINFOmap_serverCleaning up + 11.23sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.23sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.23sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.23sINFOcontroller_serverCleaning up + 11.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.23sINFOlocal_costmap.local_costmapCleaning up + 11.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.23sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.23sERRORui_teleop_bridge-27process has died [pid 9323, 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_hz4pppca']. ×2 + 11.23sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.23sINFOobjective_server_node[2026-06-18 18:46:07.578] [moveit_pro_license] [info] ×2 + 11.23sINFOobjective_server_node************************************************* ×4 + 11.23sINFOobjective_server_node* MoveIt Pro License ×2 + 11.23sINFOobjective_server_node* Application has successfully terminated ×2 + 11.23sINFOmove_groupDeleting MoveItCpp[0m ×2 + 11.23sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.23sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.23sINFOodom_qos_relay.pymain() ×2 + 11.23sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.23sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.23sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.23sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.23sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.23sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.23sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.23sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.24sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.24sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.24sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.24sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.24sINFOmove_groupStopping world geometry monitor[0m ×2 + 11.24sINFOmove_groupStopping planning scene monitor[0m ×2 + 11.24sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.24sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5588b32276a4, in _start ×2 + 11.24sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f95309f828a, in __libc_start_main ×2 + 11.24sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f95309f81d0, in ×2 + 11.24sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9530a15bbd, in exit ×2 + 11.24sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9530a15a75, in ×2 + 11.24sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9530ee74a2, in spdlog::details::registry::~registry() ×2 + 11.24sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9530ef269d, 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 + 11.24sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9530eec965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.24sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5588b322e315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.24sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5588b322d5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.24sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5588b3229b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.24sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5588b3227d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.24sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f953157d454, in rclcpp::Node::~Node() ×2 + 11.24sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9531538515, in ×2 + 11.24sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f953157bd20, in ×2 + 11.24sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f953157bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.24sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f95315385d9, in ×2 + 11.24sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f953153d161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.24sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f94dfc92a70]) ×2 + 11.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.27sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.27sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.27sINFOsmoother_serverCleaning up + 11.27sERRORobjective_server_node_main-24process has died [pid 9320, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_tzj039qm --params-file /tmp/launch_params_hif54zkx --params-file /tmp/launch_params_qh021ldu --params-file /tmp/launch_params_6cky8fbq --params-file /tmp/launch_params_8atpocf5 --params-file /tmp/launch_params_k6qkk6lp --params-file /tmp/launch_params_e50937to --params-file /tmp/launch_params_0p8_pywj --params-file /tmp/launch_params_o0cduigm']. ×2 + 11.27sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.27sINFOexecute_objective_bridge-26process has finished cleanly [pid 9322] ×2 + 11.28sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.28sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.28sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.30sERRORamclThe bond connection to the lifecycle manager has been broken + 11.31sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.31sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.31sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.31sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.31sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.31sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.31sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.31sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.31sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.31sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.31sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.33sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.33sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 12.07sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9316] ×2 + 12.08sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9259] ×2 + 12.13sINFOparameter_manager_node-20process has finished cleanly [pid 9256] ×2 + 12.14sINFOwaypoint_manager_node-21process has finished cleanly [pid 9258] ×2 + 12.17sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9166] ×2 + 12.19sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9165] ×2 + 12.22sINFOstatic_transform_publisher-3process has finished cleanly [pid 9163] ×2 + 12.24sINFOstatic_transform_publisher-2process has finished cleanly [pid 9162] ×2 + 12.25sINFOcomponent_container_mt-25process has finished cleanly [pid 9321] ×2 + 12.27sERRORodom_qos_relay.py-4process has died [pid 9164, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.28sINFOmove_group-19process has finished cleanly [pid 9254] ×2 + 12.89sINFOros2_control_node-7process has finished cleanly [pid 9167] ×2 + 13.56sINFOweb_bridge-28process has finished cleanly [pid 9324] ×2 + 13.56sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 15.76sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.77sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.78sERRORcomponent_container_isolated-1process has died [pid 9161, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_jhp8ddcy --params-file /tmp/launch_params_qt3fnw_3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.4s | 52 warnings · 146 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.246ms + 0.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.906ms + 0.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.172ms + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932391 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932391 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975307 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975307 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.117ms + 2.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.594ms + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238260 ms (missed cycles : 4). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238260 ms (missed cycles : 4).[0m ×2 + 2.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.316ms + 3.54sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.54sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781808346.53616595 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.769ms + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047227 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047227 ms (missed cycles : 2).[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.497ms + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781808347.08631253 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.685ms + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180160 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180160 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376523 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376523 ms (missed cycles : 2).[0m ×2 + 6.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103313 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103313 ms (missed cycles : 2).[0m ×2 + 7.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.722ms + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.622ms + 7.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.688ms + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186825 ms (missed cycles : 3). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186825 ms (missed cycles : 3).[0m ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 8.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.11sINFOobjective_server_nodeFound path in 63 iterations (0.0386955 s). ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920290 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920290 ms (missed cycles : 3).[0m ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 9.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.730ms + 9.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681277 ms (missed cycles : 3). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681277 ms (missed cycles : 3).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568849 ms (missed cycles : 4). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568849 ms (missed cycles : 4).[0m ×2 + 11.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.505ms + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.687ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003441 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003441 ms (missed cycles : 2).[0m ×2 + 12.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.637ms + 13.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.647ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 1766 particles 91 points - 1.426ms + 14.25sINFOamclParticle filter update iteration stats: 1682 particles 91 points - 1.489ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 1619 particles 91 points - 1.068ms + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3).[0m ×2 + 15.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781808358.91783571 seconds ×3 + 16.05sINFOamclParticle filter update iteration stats: 1788 particles 91 points - 1.305ms + 16.35sINFOamclParticle filter update iteration stats: 1714 particles 91 points - 1.409ms + 16.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781808359.49216104 seconds. ×3 + 16.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.53sINFOmove_groupClearing octomap...[0m ×2 + 16.53sINFOmove_groupOctomap cleared.[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1502 particles 91 points - 1.275ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1406 particles 91 points - 1.195ms + 17.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781808359.98228955 seconds ×3 + 17.05sINFOamclParticle filter update iteration stats: 1481 particles 91 points - 1.280ms + 17.35sINFOamclParticle filter update iteration stats: 1257 particles 91 points - 1.083ms + 17.47sINFOamclParticle filter update iteration stats: 1703 particles 91 points - 1.264ms + 17.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.542ms + 17.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781808360.52127719 seconds. ×3 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4).[0m ×2 + 17.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.699ms + 17.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781808360.91142750 seconds ×3 + 18.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.665ms + 18.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.464ms + 18.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.604ms + 18.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.715ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773430 ms (missed cycles : 5). | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 51 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640623 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640623 ms (missed cycles : 4).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.060ms + 0.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.920ms + 0.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.381ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424244 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424244 ms (missed cycles : 4).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.769ms + 1.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.901ms + 1.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.907ms ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064751 ms (missed cycles : 7). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064751 ms (missed cycles : 7).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781808208.86476636 seconds ×3 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.663ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142650 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142650 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.811ms + 3.60sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781808209.40082741 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.938ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.02sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.226ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554145 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554145 ms (missed cycles : 3).[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.763ms + 4.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.835ms + 4.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.143ms + 4.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.874ms + 4.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.180ms + 4.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.92sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.009ms + 4.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294350 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294350 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 5.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.794ms ×2 + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.761ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.284ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514737 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514737 ms (missed cycles : 3).[0m ×2 + 6.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.129ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837115 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837115 ms (missed cycles : 3).[0m ×2 + 7.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.853ms + 8.02sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.026ms + 8.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.258ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.454251 ms (missed cycles : 7). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.454251 ms (missed cycles : 7).[0m ×2 + 8.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.967ms + 9.12sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.838ms + 9.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.886ms + 9.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.814ms + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227514 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227514 ms (missed cycles : 5).[0m ×2 + 9.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.717ms + 10.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.665ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884247 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884247 ms (missed cycles : 2).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 11.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.869ms + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494915 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494915 ms (missed cycles : 3).[0m ×2 + 11.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.666ms + 12.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.745ms + 12.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.826ms ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832680 ms (missed cycles : 5). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832680 ms (missed cycles : 5).[0m ×2 + 12.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.184ms + 13.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.672ms + 13.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.947ms + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798844 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798844 ms (missed cycles : 2).[0m ×2 + 13.90sINFOjoint_trajectory_controllerGot request to cancel goal + 13.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781808219.73515868 seconds ×3 + 14.02sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.674ms + 14.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.671ms ×2 + 14.48sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781808220.27664709 seconds. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259435 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259435 ms (missed cycles : 3).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.872ms + 15.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.179ms + 15.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.246ms + 15.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.858ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832558 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832558 ms (missed cycles : 2).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.023ms + 16.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 16.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.816ms + 16.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.144ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035667 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035667 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 127 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms ×2 + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms + 6.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.968ms + 6.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.724ms + 7.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.339ms + 7.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.326ms + 7.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.991ms + 7.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.808ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820755 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820755 ms (missed cycles : 3).[0m ×2 + 7.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.928ms + 7.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.769ms + 7.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.495ms + 7.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.914ms + 7.89sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781808124.84666514 seconds ×3 + 7.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.986ms + 8.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.770ms + 8.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.915ms + 8.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.069ms + 8.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.408ms + 8.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.233ms + 8.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.887ms + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394775 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394775 ms (missed cycles : 3).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.805ms + 8.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.253ms + 8.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.265ms + 8.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.885ms + 9.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.848ms + 9.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.122ms + 9.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.036ms + 9.42sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781808126.38400674 seconds. ×3 + 9.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.081ms + 9.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.909ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794014 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794014 ms (missed cycles : 2).[0m ×2 + 9.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.155ms + 9.71sINFOobjective_server_nodeFound path in 0 iterations (9.5e-07 s). ×2 + 9.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.545ms + 9.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.166ms + 9.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.856ms + 10.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 10.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.899ms + 10.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.664ms + 10.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.886ms + 10.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.614ms + 10.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.916ms + 10.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.412ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496849 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496849 ms (missed cycles : 3).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.579ms + 10.79sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.906ms + 10.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.322ms + 11.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.505ms + 11.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.644ms + 11.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.225ms + 11.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.206ms + 11.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.773ms + 11.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.256ms + 11.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.890ms + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125791 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125791 ms (missed cycles : 2).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.370ms + 11.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.929ms + 11.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.823ms + 12.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.460ms | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.29sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781808060.25981355 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781808060.80221653 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.9273e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781808063.70234251 seconds ×3 + 7.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781808064.23851371 seconds. ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738318 ms (missed cycles : 5). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738318 ms (missed cycles : 5).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022250 ms (missed cycles : 4). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022250 ms (missed cycles : 4).[0m ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381627 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381627 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.687ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003441 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003441 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.637ms + 0.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.647ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1766 particles 91 points - 1.426ms + 1.85sINFOamclParticle filter update iteration stats: 1682 particles 91 points - 1.489ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1619 particles 91 points - 1.068ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781808358.91783571 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOamclParticle filter update iteration stats: 1788 particles 91 points - 1.305ms + 3.95sINFOamclParticle filter update iteration stats: 1714 particles 91 points - 1.409ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781808359.49216104 seconds. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.13sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 1502 particles 91 points - 1.275ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3).[0m ×2 + 4.55sINFOamclParticle filter update iteration stats: 1406 particles 91 points - 1.195ms + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781808359.98228955 seconds ×3 + 4.65sINFOamclParticle filter update iteration stats: 1481 particles 91 points - 1.280ms + 4.95sINFOamclParticle filter update iteration stats: 1257 particles 91 points - 1.083ms + 5.07sINFOamclParticle filter update iteration stats: 1703 particles 91 points - 1.264ms + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.542ms + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781808360.52127719 seconds. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4).[0m ×2 + 5.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.699ms + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781808360.91142750 seconds ×3 + 5.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.665ms + 5.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.464ms + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.604ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.715ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773430 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773430 ms (missed cycles : 5).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031746 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031746 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3).[0m ×2 + 0.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781808060.25981355 seconds ×3 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781808060.80221653 seconds. ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_server_nodeFound path in 0 iterations (2.9273e-05 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781808063.70234251 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781808064.23851371 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738318 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738318 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022250 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022250 ms (missed cycles : 4).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381627 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381627 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 1616 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781808060.25981355 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781808060.80221653 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.9273e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103640 ms (missed cycles : 5).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102499 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463354 ms (missed cycles : 4).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993201 ms (missed cycles : 3).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGoal reached, success! + 3.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781808060.25981355 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781808060.80221653 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359648 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.9273e-05 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791855 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848220 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 1616 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.997ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415676 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270805 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.304070 ms (missed cycles : 7).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.100ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.409614 ms (missed cycles : 7).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781808120.35865474 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.420ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 3.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.725ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781808120.90651178 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.965ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126355 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.141ms + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.799ms + 5.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.379ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418605 ms (missed cycles : 4).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.118ms + 5.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.826ms + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.028ms + 6.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 6.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176966 ms (missed cycles : 5).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.293ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.036ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.558ms + 0.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.425ms + 0.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.428ms + 1.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.222ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.120ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.469ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781808156.37416482 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.302ms + 4.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781808156.91462302 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6).[0m ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.003ms + 5.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.299ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 5.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.596ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.006ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.312ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.558ms + 0.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.425ms + 0.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.428ms + 1.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.222ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.120ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.469ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781808156.37416482 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.302ms + 4.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781808156.91462302 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6).[0m ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.003ms + 5.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.299ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 5.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.596ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.006ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.312ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.483600 ms (missed cycles : 7).[0m ×2 + 0.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.558ms + 0.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.425ms + 0.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.428ms + 1.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.222ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006206 ms (missed cycles : 2).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.120ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345758 ms (missed cycles : 4).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.469ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381884 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781808156.37416482 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.302ms + 4.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781808156.91462302 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812626 ms (missed cycles : 6).[0m ×2 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.003ms + 5.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.299ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.987395 ms (missed cycles : 5).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 5.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.596ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.006ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.594626 ms (missed cycles : 6).[0m ×2 + 6.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.312ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 1616 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120403 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.723ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465232 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.113ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210492 ms (missed cycles : 3).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864259 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781808291.41686106 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.646ms + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.573ms ×2 + 3.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781808291.97604084 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.601ms + 4.28sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.800ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929159 ms (missed cycles : 3).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.943ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.846ms + 5.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966370 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.643ms + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.635ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147789 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.687ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003441 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003441 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.637ms + 0.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.647ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392294 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1766 particles 91 points - 1.426ms + 1.85sINFOamclParticle filter update iteration stats: 1682 particles 91 points - 1.489ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599480 ms (missed cycles : 4).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1619 particles 91 points - 1.068ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3).[0m ×2 + 3.51sINFOjoint_trajectory_controllerGoal reached, success! + 3.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781808358.91783571 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOamclParticle filter update iteration stats: 1788 particles 91 points - 1.305ms + 3.95sINFOamclParticle filter update iteration stats: 1714 particles 91 points - 1.409ms + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781808359.49216104 seconds. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.13sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 1502 particles 91 points - 1.275ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859808 ms (missed cycles : 3).[0m ×2 + 4.55sINFOamclParticle filter update iteration stats: 1406 particles 91 points - 1.195ms + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781808359.98228955 seconds ×3 + 4.65sINFOamclParticle filter update iteration stats: 1481 particles 91 points - 1.280ms + 4.95sINFOamclParticle filter update iteration stats: 1257 particles 91 points - 1.083ms + 5.07sINFOamclParticle filter update iteration stats: 1703 particles 91 points - 1.264ms + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.542ms + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781808360.52127719 seconds. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.648945 ms (missed cycles : 4).[0m ×2 + 5.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.699ms + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781808360.91142750 seconds ×3 + 5.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.665ms + 5.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.464ms + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.604ms + 6.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.715ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773430 ms (missed cycles : 5). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 21.5s | 13 errors · 300 warnings · 4792 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-18-18-39-53-215119-e667f5a43246-9112 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.67sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 8.67sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 8.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.78sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.79sINFOcontroller_managerupdate rate is 600 Hz + 8.79sINFOcontroller_managerOverruns handling is : enabled + 8.79sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.79sWARNcontroller_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. + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472985 ms (missed cycles : 4). + 8.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.91sINFOros2_control_node-7process started with pid [9167] ×2 + 8.91sINFOmove_group-19process started with pid [9254] ×2 + 8.91sINFOparameter_manager_node-20process started with pid [9256] ×2 + 8.91sINFOwaypoint_manager_node-21process started with pid [9258] ×2 + 8.91sINFOmove_joint_resampler_node-22process started with pid [9259] ×2 + 8.91sINFOmove_end_effector_resampler_node-23process started with pid [9316] ×2 + 8.91sINFOobjective_server_node_main-24process started with pid [9320] ×2 + 8.91sINFOcomponent_container_mt-25process started with pid [9321] ×2 + 8.91sINFOexecute_objective_bridge-26process started with pid [9322] ×2 + 8.91sINFOui_teleop_bridge-27process started with pid [9323] ×2 + 8.91sINFOweb_bridge-28process started with pid [9324] ×2 + 8.91sINFOtf2_web_republisher_node-29process started with pid [9325] ×2 + 8.91sINFOweb_video_server-30process started with pid [9326] ×2 + 8.91sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.91sINFOcomponent_container_isolated-1process started with pid [9161] ×2 + 8.91sINFOstatic_transform_publisher-2process started with pid [9162] ×2 + 8.91sINFOstatic_transform_publisher-3process started with pid [9163] ×2 + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.91sINFOodom_qos_relay.py-4process started with pid [9164] ×2 + 8.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.91sINFOscan_to_scan_filter_chain-5process started with pid [9165] ×2 + 8.91sINFOscan_to_scan_filter_chain-6process started with pid [9166] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process started with pid [9168] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process started with pid [9236] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process started with pid [9237] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-11process started with pid [9238] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process started with pid [9240] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process started with pid [9242] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-14process started with pid [9244] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process started with pid [9246] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process started with pid [9248] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-17process started with pid [9250] ×2 + 8.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process started with pid [9252] ×2 + 8.95sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.95sINFOmap_serverCreating + 8.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.99sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 8.99sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 8.99sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 8.99sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 8.99sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 8.99sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 8.99sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.99sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.99sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.99sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.99sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.99sWARNros2_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 + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472985 ms (missed cycles : 4).[0m ×2 + 9.01sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 9.03sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 9.12sINFOcontroller_serverCreating controller server + 9.13sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.13sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.15sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.16sINFOlocal_costmap.local_costmapCreating Costmap + 9.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 9.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 9.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 9.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 9.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.26sINFOrobot_state_publisherRobot initialized + 9.26sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.28sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.28sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.29sINFOcontroller_managerReceived robot description from topic. + 9.29sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.29sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.29sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.31sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.31sINFOsmoother_serverCreating smoother server + 9.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.31sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.34sINFOlifecycle_manager_localizationCreating + 9.36sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 9.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.38sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.38sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.38sINFOmap_serverConfiguring + 9.40sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.41sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.44sINFOplanner_serverCreating + 9.46sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.46sINFOamclConfiguring + 9.47sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.47sINFOmap_serverActivating + 9.47sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.48sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.48sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.48sINFOglobal_costmap.global_costmapCreating Costmap + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.49sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.56sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.59sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.59sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.59sINFOamclActivating + 9.59sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.59sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.62sINFOamclSubscribed to map_topic: /map + 9.62sINFOamclSubscribed to scan_topic: /scan_front_filtered + 9.62sINFOamclCreated reinitialize_global_localization service + 9.62sINFOamclCreated request_nomotion_update service + 9.63sINFOamclA new map was received + 9.63sINFOamclInitializing particle filter instance + 9.65sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.65sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 9.65sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.65sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.67sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.508943 seconds + 9.67sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.67sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.68sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.68sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.68sINFObt_navigatorCreating + 9.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.73sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 9.74sINFOmove_groupLoaded robot model in 0.508943 seconds[0m ×2 + 9.74sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.74sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.74sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 9.77sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.78sINFOwaypoint_followerCreating + 9.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.83sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.86sINFOlifecycle_manager_navigationCreating + 9.87sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.90sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.90sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.90sINFOcontroller_serverConfiguring controller interface + 9.90sINFOcontroller_servergetting progress checker plugins.. + 9.90sINFOcontroller_servergetting goal checker plugins.. + 9.90sINFOcontroller_serverController frequency set to 20.0000Hz + 9.90sINFOlocal_costmap.local_costmapConfiguring + 9.92sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.93sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.94sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.94sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 9.94sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.96sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.96sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.97sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 10.00sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 10.00sINFOcontroller_serverController Server has progress_checker progress checkers available. + 10.01sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 10.01sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 10.01sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 10.02sINFOwaypoint_manager_nodeLoaded robot model in 0.402645 seconds[0m ×2 + 10.02sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.02sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.02sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713494 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713494 ms (missed cycles : 2).[0m ×2 + 10.04sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 10.06sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 10.06sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 10.07sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 10.07sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 10.07sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 10.07sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 10.08sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 10.08sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 10.08sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 10.08sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 10.09sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 10.10sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 10.10sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 10.10sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 10.10sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 10.11sINFOcontroller_serverOptimizer reset + 10.12sINFOcontroller_serverController Server has FollowPath controllers available. + 10.14sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 10.14sINFOsmoother_serverConfiguring smoother server + 10.15sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 10.15sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 10.16sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 10.16sINFOplanner_serverConfiguring + 10.16sINFOglobal_costmap.global_costmapConfiguring + 10.17sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 10.17sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 10.19sINFOamclParticle filter initialization completed + 10.19sINFOamclInitializing particles from map + 10.19sINFOamclParticle filter initialized with 2000 particles distributed across the map + 10.19sINFOamclThe bond connection to the lifecycle manager is now fully formed + 10.19sINFOlifecycle_manager_localizationServer amcl connected with bond. + 10.19sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 10.19sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 10.23sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 10.23sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 10.23sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 10.24sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.24sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.25sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.26sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 10.26sINFOplanner_serverCleaning up + 10.26sINFOglobal_costmap.global_costmapCleaning up + 10.27sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 10.33sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.33sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.33sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.33sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.33sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.33sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.33sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.33sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.34sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.35sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.36sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.65sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.65sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.65sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.88sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.88sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.89sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.89sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.89sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.89sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.89sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.89sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.89sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.89sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.89sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.89sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.89sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.89sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.90sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.90sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.90sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.90sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.90sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.90sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.93sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.93sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.94sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.24sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.24sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.24sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.24sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.24sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.24sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.24sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.24sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.24sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.24sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.24sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.24sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.24sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.24sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.24sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.25sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.25sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.25sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.25sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.25sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.25sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.25sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.25sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.27sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.27sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.27sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.308ms + 11.43sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.43sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.43sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.43sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.43sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 11.44sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 11.45sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.45sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.45sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 11.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 11.46sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.46sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.46sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.46sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.46sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900707 ms (missed cycles : 3). + 11.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900707 ms (missed cycles : 3).[0m ×2 + 11.47sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 11.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 11.63sINFOros2-31process started with pid [9878] ×2 + 11.63sINFOobjective_server_node[2026-06-18 18:40:07.282] [moveit_pro_license] [info] ×2 + 11.63sINFOobjective_server_node************************************************* ×4 + 11.63sINFOobjective_server_node* MoveIt Pro License ×2 + 11.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.66sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.71sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.71sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 11.71sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.73sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 11.73sINFOobjective_server_nodeLoaded robot model in 0.0278916 seconds[0m ×2 + 11.73sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.73sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.78sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.78sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.79sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 11.79sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 11.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-12process has finished cleanly [pid 9240] ×2 + 11.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.85sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 11.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 11.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 11.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.88sINFOplatform_velocity_controllerconfigure successful + 11.88sINFOros2_control_nodeconfigure successful[0m ×6 + 11.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.89sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 11.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 11.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.03sINFOobjective_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 + 12.03sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 12.04sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 12.04sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 12.04sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 12.05sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 12.05sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 12.05sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 12.05sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-11process has finished cleanly [pid 9238] ×2 + 12.20sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.24sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.24sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 12.24sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.27sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 12.27sINFOcomponent_container_mtLoaded robot model in 0.393783 seconds[0m ×2 + 12.27sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.27sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.39sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.39sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.42sWARNobjective_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 + 12.46sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.46sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.46sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.46sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690814 ms (missed cycles : 3). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690814 ms (missed cycles : 3).[0m ×2 + 12.48sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.48sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.48sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.48sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.48sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.48sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.48sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.49sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.49sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.50sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 12.58sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 12.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 12.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 12.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.81sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.81sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.86sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 12.86sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 12.86sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 12.88sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 12.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 12.89sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 12.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.11sINFOros2_control_node[2026-06-18 18:40:08.753] [info] Controller state will be published at 20 Hz. ×2 + 13.11sINFOros2_control_node[2026-06-18 18:40:08.754] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.14sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 13.14sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 13.14sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 13.14sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz) + 13.14sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 13.14sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz)[0m ×2 + 13.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.30sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 13.30sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 13.35sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.35sINFOmove_groupMoveGroup debug mode is ON + 13.35sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.35sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.36sINFOros2publisher: beginning loop ×2 + 13.36sINFOros2publishing #1: geometry_msgs.msg.PoseWithCovarianceStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=0, nanosec=0), frame_id='map'), pose=geometry_msgs.msg.PoseWithCovariance(pose=geometry_msgs.msg.Pose(position=geometry_msgs.msg.Point(x=0.0, y=0.0, z=0.0), orientation=geometry_msgs.msg.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)), covariance=array([0.25 , 0. , 0. , 0. , 0. , 0. , 0. , 0.25 , ×2 + 13.36sINFOros20. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , ×6 + 13.36sINFOros20. , 0. , 0. , 0.0685]))) ×2 + 13.36sINFOros2 ×2 + 13.36sINFOamclInitializing particles from estimated pose and covariance + 13.36sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 + 13.36sINFOamclParticle filter update iteration stats: 1830 particles 91 points - 2.698ms + 13.39sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.39sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.45sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.45sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.47sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 13.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-17process has finished cleanly [pid 9250] ×2 + 13.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 13.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.56sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334534 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334534 ms (missed cycles : 3).[0m ×2 + 13.62sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 13.62sINFOmove_group ×8 + 13.62sINFOmove_group******************************************************** ×4 + 13.62sINFOmove_group* MoveGroup using: ×2 + 13.62sINFOmove_group* - apply_planning_scene_service ×2 + 13.62sINFOmove_group* - clear_octomap_service ×2 + 13.62sINFOmove_group* - ExecuteTaskSolution ×2 + 13.62sINFOmove_group* - get_group_urdf ×2 + 13.62sINFOmove_group* - load_geometry_from_file ×2 + 13.62sINFOmove_group* - get_planning_scene_service ×2 + 13.62sINFOmove_group* - kinematics_service ×2 + 13.62sINFOmove_group* - save_geometry_to_file ×2 + 13.62sINFOmove_group* - GetPlanningGroups ×2 + 13.62sINFOmove_group* - SetActiveControllerService ×2 + 13.62sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.62sINFOmove_group[0m ×2 + 13.62sINFOmove_group[92mYou can start planning now![0m ×2 + 13.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.69sINFOros2-31process has finished cleanly [pid 9878] ×2 + 13.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.72sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.73sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 13.73sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 13.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 13.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 13.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.79sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-14process has finished cleanly [pid 9244] ×2 + 14.17sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 14.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 14.42sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 14.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 14.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 14.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 14.45sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 14.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 14.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 14.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 14.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 14.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 14.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 14.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 14.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 14.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 14.47sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1781808009.110 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 14.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 14.47sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 14.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594060 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594060 ms (missed cycles : 3).[0m ×2 + 14.80sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 14.80sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-10process has finished cleanly [pid 9237] ×2 + 15.05sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 15.05sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 15.05sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 15.05sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 15.05sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 15.05sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 15.08sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 15.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 15.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 15.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 15.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 15.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 15.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 15.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 15.39sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.39sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 15.39sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 15.39sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.39sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 15.39sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 15.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 15.46sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 15.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 15.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 15.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 15.47sINFOplatform_velocity_controller_nav2configure successful + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 15.86sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.86sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.86sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.86sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 15.95sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 15.95sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 16.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 16.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 16.00sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.00sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.51sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.51sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 16.51sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 16.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 16.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 16.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 16.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 16.84sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 16.84sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 16.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 16.89sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 16.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 16.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 16.89sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 16.90sINFOforce_torque_sensor_broadcasterconfigure successful + 16.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 16.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 16.91sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 16.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 17.24sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.24sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 17.24sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.24sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.24sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 17.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 17.30sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 17.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 17.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.56sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.57sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 17.57sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 17.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 17.93sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 17.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 17.94sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.94sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.94sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 17.94sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.94sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.94sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 17.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 17.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 17.97sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.97sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.48sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 18.48sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 18.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 18.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 19.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 19.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.07sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.07sINFOmove_groupClearing octomap...[0m ×2 + 19.07sINFOmove_groupOctomap cleared.[0m ×2 + 19.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 19.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 19.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 20.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 20.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 20.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 20.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 20.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 20.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 20.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 20.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 21.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 21.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 1597 info |
+ 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.32sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.32sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.32sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.34sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.56sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.95sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.96sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.35sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.62sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.62sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 1.62sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.98sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.99sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.99sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.99sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.99sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.01sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.54sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.96sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.01sINFOjoint_trajectory_controllerReceived new action goal + 7.01sINFOjoint_trajectory_controllerAccepted new action goal + 7.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 21 warnings · 1619 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 7.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-18-18-39-53-215119-e667f5a43246-9112 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 1591 info |
+ 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.32sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.32sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.32sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.34sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.56sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.95sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.96sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.35sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.62sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.62sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 1.62sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.98sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.99sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.99sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.99sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.99sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.01sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.54sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.13sINFOmove_groupClearing octomap...[0m ×2 + 3.13sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.96sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 1616 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 1616 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 1616 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-9process has finished cleanly [pid 9236] ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129462 ms (missed cycles : 2).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-13process has finished cleanly [pid 9242] ×2 + 0.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.61sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.88sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.88sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.90sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.90sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.90sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.151] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.156] [info] Controller state will be published at 10 Hz. ×2 + 1.12sINFOros2_control_node[2026-06-18 18:40:12.157] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 1.85sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.85sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 1.91sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 2.18sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 2.54sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.55sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 2.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 2.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 3.09sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 3.10sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 3.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.69sINFOmove_groupClearing octomap...[0m ×2 + 3.69sINFOmove_groupOctomap cleared.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 1118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090093 ms (missed cycles : 5).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-16process has finished cleanly [pid 9248] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.13sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 0.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-8process has finished cleanly [pid 9168] ×2 + 0.53sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.55sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.55sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.57sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.57sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.212] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.214] [info] Controller state will be published at 10 Hz. ×2 + 0.80sINFOros2_control_node[2026-06-18 18:40:13.215] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160882 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-15process has finished cleanly [pid 9246] ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg + 1.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__k3y2xfz --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_1pcmxg6o --params-file /tmp/launch_params_wi2io4rg [0m ×2 + 1.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.131] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-18 18:40:14.132] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-18process has finished cleanly [pid 9252] ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786881 ms (missed cycles : 3).[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781808014.72002554 seconds. ×3 + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.31sINFOmove_groupClearing octomap...[0m ×2 + 2.31sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781808014.73023510 seconds ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781808015.27417850 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781808015.28431726 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513511 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781808015.81743050 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781808015.96803808 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781808016.53148985 seconds. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781808016.58162808 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637585 ms (missed cycles : 4).[0m ×2 + 4.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781808017.11841393 seconds. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655890 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144783 ms (missed cycles : 4).[0m ×2 | ||||