67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.8s | 3 errors · 240 warnings · 267 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.138ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778200 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778200 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.890ms + 0.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.935ms + 0.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.234ms + 0.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.374ms + 1.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099906 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099906 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.839ms + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.930ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781621 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781621 ms (missed cycles : 2).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.770ms + 3.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.771ms + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082225 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082225 ms (missed cycles : 2).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.818ms + 4.00sINFOjoint_trajectory_controllerGot request to cancel goal + 4.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782230441.65469837 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.145ms + 4.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.083ms + 4.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.372ms + 4.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.951ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513576 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513576 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782230442.21262813 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.389ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.781ms ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.111ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861114 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861114 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.954ms + 5.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.162ms + 6.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.118ms ×3 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.29sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.29sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.29sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.042ms + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.411ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580813 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580813 ms (missed cycles : 3).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.122ms + 6.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.468ms + 6.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.972ms + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.022ms + 7.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.897ms + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073097 ms (missed cycles : 6). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073097 ms (missed cycles : 6).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.015ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552730 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552730 ms (missed cycles : 3).[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.903ms + 9.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.435ms + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.913ms + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.076ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881245 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881245 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.896ms + 10.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.853ms + 10.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.988ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.120317 ms (missed cycles : 5). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.120317 ms (missed cycles : 5).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.843ms + 11.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.963ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254473 ms (missed cycles : 5). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254473 ms (missed cycles : 5).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.937ms + 12.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.970ms + 12.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.989ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753694 ms (missed cycles : 4). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753694 ms (missed cycles : 4).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.147ms + 13.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.815ms ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446386 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446386 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.773ms + 14.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.871ms + 14.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.910ms + 15.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.939ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842282 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842282 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.868ms + 15.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.142ms + 15.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.741ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713143 ms (missed cycles : 6). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.713143 ms (missed cycles : 6).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.892ms + 16.31sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.107ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241823 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241823 ms (missed cycles : 2).[0m ×2 + 17.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.024ms + 17.44sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.912ms ×2 + 17.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.115ms + 18.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.266ms + 18.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.009ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582532 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582532 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.211ms + 18.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.387ms + 19.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.798ms + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877203 ms (missed cycles : 5). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877203 ms (missed cycles : 5).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.992ms + 19.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.978ms + 20.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.918ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761872 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761872 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.301ms + 20.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.006ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.196408 ms (missed cycles : 8). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.196408 ms (missed cycles : 8).[0m ×2 + 21.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.396ms + 21.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.393ms + 22.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630343 ms (missed cycles : 3). + 22.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630343 ms (missed cycles : 3).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.855ms + 22.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.705ms + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702753 ms (missed cycles : 5). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702753 ms (missed cycles : 5).[0m ×2 + 23.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.317ms + 23.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.310ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.834988 ms (missed cycles : 12). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.834988 ms (missed cycles : 12).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.840ms + 24.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.416ms + 25.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.453ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590665 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590665 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.203ms + 26.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.858ms + 26.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511804 ms (missed cycles : 2). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511804 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.995ms + 27.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.874ms + 27.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.565ms + 27.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.087ms + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.587274 ms (missed cycles : 7). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.587274 ms (missed cycles : 7).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.175ms + 28.40sINFOamclParticle filter update iteration stats: 1840 particles 91 points - 1.917ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729635 ms (missed cycles : 4). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729635 ms (missed cycles : 4).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1967 particles 91 points - 2.030ms + 29.40sINFOamclParticle filter update iteration stats: 1830 particles 91 points - 2.009ms + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299857 ms (missed cycles : 5). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299857 ms (missed cycles : 5).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 1671 particles 91 points - 2.676ms + 30.40sINFOamclParticle filter update iteration stats: 1566 particles 91 points - 1.542ms + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679403 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679403 ms (missed cycles : 2).[0m ×2 + 30.90sINFOamclParticle filter update iteration stats: 1343 particles 91 points - 1.476ms + 31.50sINFOamclParticle filter update iteration stats: 1108 particles 91 points - 1.404ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535257 ms (missed cycles : 3). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535257 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 968 particles 91 points - 1.064ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499550 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499550 ms (missed cycles : 2).[0m ×2 + 33.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.57sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867867 ms (missed cycles : 7). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.867867 ms (missed cycles : 7).[0m ×2 + 33.99sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.61sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 34.61sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725521 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725521 ms (missed cycles : 2).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784462 ms (missed cycles : 3). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784462 ms (missed cycles : 3).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 1011 particles 91 points - 0.862ms + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704752 ms (missed cycles : 2). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704752 ms (missed cycles : 2).[0m ×2 + 37.51sINFOamclParticle filter update iteration stats: 893 particles 91 points - 0.978ms + 37.90sINFOamclParticle filter update iteration stats: 925 particles 91 points - 0.847ms + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444515 ms (missed cycles : 3). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444515 ms (missed cycles : 3).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.789ms + 38.70sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.755ms + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675160 ms (missed cycles : 2). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675160 ms (missed cycles : 2).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.701ms + 39.43sINFOros2_control_nodeMuJoCo sim: 1.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.627ms + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800203 ms (missed cycles : 4). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800203 ms (missed cycles : 4).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737449 ms (missed cycles : 4). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737449 ms (missed cycles : 4).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325674 ms (missed cycles : 2). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325674 ms (missed cycles : 2).[0m ×2 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279355 ms (missed cycles : 3). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279355 ms (missed cycles : 3).[0m ×2 + 43.60sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.731ms + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.033370 ms (missed cycles : 6). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.033370 ms (missed cycles : 6).[0m ×2 + 44.45sINFOamclParticle filter update iteration stats: 839 particles 91 points - 1.998ms + 44.50sINFOamclParticle filter update iteration stats: 1076 particles 91 points - 1.201ms + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957205 ms (missed cycles : 5). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957205 ms (missed cycles : 5).[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1151 particles 91 points - 1.120ms + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511182 ms (missed cycles : 5). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.511182 ms (missed cycles : 5).[0m ×2 + 46.64sINFOamclParticle filter update iteration stats: 1161 particles 91 points - 1.486ms + 46.70sINFOamclParticle filter update iteration stats: 1375 particles 91 points - 1.408ms + 47.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891574 ms (missed cycles : 3). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891574 ms (missed cycles : 3).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.279ms + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681842 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681842 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.219ms + 49.50sINFOamclParticle filter update iteration stats: 903 particles 91 points - 1.116ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189205 ms (missed cycles : 3). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189205 ms (missed cycles : 3).[0m ×2 + 50.60sINFOamclParticle filter update iteration stats: 817 particles 91 points - 1.082ms + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240831 ms (missed cycles : 3). + 50.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240831 ms (missed cycles : 3).[0m ×2 + 51.33sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 51.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.689290 ms (missed cycles : 8). + 51.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.689290 ms (missed cycles : 8).[0m ×2 + 51.74sINFOamclParticle filter update iteration stats: 1172 particles 91 points - 0.985ms + 51.80sINFOamclParticle filter update iteration stats: 1215 particles 91 points - 1.354ms + 52.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300512 ms (missed cycles : 2). + 52.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300512 ms (missed cycles : 2).[0m ×2 + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733382 ms (missed cycles : 2). + 53.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733382 ms (missed cycles : 2).[0m ×2 + 54.11sINFOamclParticle filter update iteration stats: 1257 particles 91 points - 1.696ms + 54.21sINFOamclParticle filter update iteration stats: 1502 particles 91 points - 1.713ms + 54.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399939 ms (missed cycles : 2). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399939 ms (missed cycles : 2).[0m ×2 + 55.50sINFOamclParticle filter update iteration stats: 1279 particles 91 points - 1.705ms + 55.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419634 ms (missed cycles : 2). + 55.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419634 ms (missed cycles : 2).[0m ×2 + 56.20sINFOamclParticle filter update iteration stats: 1332 particles 91 points - 1.559ms + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013329 ms (missed cycles : 2). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013329 ms (missed cycles : 2).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1353 particles 91 points - 1.354ms + 57.51sINFOamclParticle filter update iteration stats: 1566 particles 91 points - 1.885ms + 57.61sINFOamclParticle filter update iteration stats: 1576 particles 91 points - 1.971ms + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305199 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305199 ms (missed cycles : 2).[0m ×2 + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.009697 ms (missed cycles : 6). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.009697 ms (missed cycles : 6).[0m ×2 + 59.00sINFOamclParticle filter update iteration stats: 1417 particles 91 points - 1.746ms + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109962 ms (missed cycles : 2). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109962 ms (missed cycles : 2).[0m ×2 + 60.10sINFOamclParticle filter update iteration stats: 1097 particles 91 points - 1.535ms + 60.24sINFOamclParticle filter update iteration stats: 1406 particles 91 points - 1.195ms + 60.31sINFOamclParticle filter update iteration stats: 1671 particles 91 points - 1.836ms + 60.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624780 ms (missed cycles : 3). + 60.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624780 ms (missed cycles : 3).[0m ×2 + 61.40sINFOamclParticle filter update iteration stats: 1956 particles 91 points - 1.665ms + 61.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647083 ms (missed cycles : 4). + 61.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647083 ms (missed cycles : 4).[0m ×2 + 61.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.084ms + 62.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.134ms + 62.34sINFOamclParticle filter update iteration stats: 1956 particles 91 points - 1.999ms + 62.44sINFOamclParticle filter update iteration stats: 1566 particles 91 points - 1.920ms + 62.50sINFOamclParticle filter update iteration stats: 1470 particles 91 points - 1.880ms + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469481 ms (missed cycles : 3). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469481 ms (missed cycles : 3).[0m ×2 + 63.50sINFOamclParticle filter update iteration stats: 1183 particles 91 points - 1.493ms + 63.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.077901 ms (missed cycles : 6). + 63.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.077901 ms (missed cycles : 6).[0m ×2 + 64.52sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 64.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990873 ms (missed cycles : 3). + 64.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990873 ms (missed cycles : 3).[0m ×2 + 65.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956497 ms (missed cycles : 3). + 66.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956497 ms (missed cycles : 3).[0m ×2 + 66.94sINFOamclParticle filter update iteration stats: 1268 particles 91 points - 1.290ms + 67.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228423 ms (missed cycles : 5). + 67.10sINFOamclParticle filter update iteration stats: 1215 particles 91 points - 1.520ms + 67.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228423 ms (missed cycles : 5).[0m ×2 + 68.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151816 ms (missed cycles : 3). + 68.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151816 ms (missed cycles : 3).[0m ×2 + 68.30sINFOamclParticle filter update iteration stats: 1300 particles 91 points - 1.269ms + 69.04sINFOamclParticle filter update iteration stats: 1225 particles 91 points - 5.000ms + 69.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959207 ms (missed cycles : 6). + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.959207 ms (missed cycles : 6).[0m ×2 + 69.24sINFOamclParticle filter update iteration stats: 1236 particles 91 points - 1.547ms + 69.30sINFOamclParticle filter update iteration stats: 1215 particles 91 points - 1.362ms + 70.00sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.539ms + 70.10sINFOamclParticle filter update iteration stats: 979 particles 91 points - 1.352ms + 70.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.348708 ms (missed cycles : 7). + 70.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.348708 ms (missed cycles : 7).[0m ×2 + 70.70sINFOamclParticle filter update iteration stats: 925 particles 91 points - 1.245ms + 70.90sINFOamclParticle filter update iteration stats: 968 particles 91 points - 1.049ms + 71.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666112 ms (missed cycles : 3). + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666112 ms (missed cycles : 3).[0m ×2 + 71.60sINFOamclParticle filter update iteration stats: 1011 particles 91 points - 1.056ms + 72.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692420 ms (missed cycles : 2). + 72.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692420 ms (missed cycles : 2).[0m ×2 + 72.30sINFOamclParticle filter update iteration stats: 1054 particles 91 points - 1.042ms + 72.40sINFOamclParticle filter update iteration stats: 990 particles 91 points - 1.278ms + 72.51sINFOamclParticle filter update iteration stats: 882 particles 91 points - 1.040ms + 73.04sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 73.10sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 73.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 73.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 73.80sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 74.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 74.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 74.60sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 75.10sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 75.20sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 75.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 75.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 76.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 76.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 76.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 76.90sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 77.00sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 77.30sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 77.41sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 77.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 77.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 77.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 77.70sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 77.82sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 78.00sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 78.30sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 78.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 78.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 78.60sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 78.90sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 79.20sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 79.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 79.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 79.70sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 186 warnings · 461 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782230279.79458547 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782230280.33769512 seconds. ×3 + 0.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (2.3231e-05 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.59sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.59sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.143390 ms (missed cycles : 8). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.143390 ms (missed cycles : 8).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782230283.44786382 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782230283.99973559 seconds. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.520127 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.520127 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883416 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883416 ms (missed cycles : 5).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124872 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124872 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673612 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673612 ms (missed cycles : 2).[0m ×2 + 8.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.673ms ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614783 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614783 ms (missed cycles : 3).[0m ×2 + 8.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.975ms + 9.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.010ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293855 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293855 ms (missed cycles : 5).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.296ms + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070224 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070224 ms (missed cycles : 2).[0m ×2 + 10.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.353ms + 11.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.281ms + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689739 ms (missed cycles : 3). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689739 ms (missed cycles : 3).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.214ms + 12.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.349ms + 12.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.434ms + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972699 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972699 ms (missed cycles : 2).[0m ×2 + 12.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.285ms + 12.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.358ms + 13.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.760ms + 13.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.608ms + 13.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.425ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051875 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051875 ms (missed cycles : 3).[0m ×2 + 13.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.478ms + 14.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.704ms + 14.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.161ms + 14.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.250ms + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582187 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582187 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.101ms + 15.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.306ms ×2 + 15.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.594ms + 15.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.056ms + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.118603 ms (missed cycles : 8). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.118603 ms (missed cycles : 8).[0m ×2 + 15.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.424ms + 15.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.263ms + 16.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.784ms + 16.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 12.802ms + 16.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.517ms + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.264760 ms (missed cycles : 8). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.264760 ms (missed cycles : 8).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.907ms + 16.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.447ms + 17.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.678ms + 17.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.352ms + 17.29sINFOros2_control_nodeMuJoCo sim: 0.51% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.053ms + 17.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.586ms + 17.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.022ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584872 ms (missed cycles : 4). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584872 ms (missed cycles : 4).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.040ms + 18.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.311ms + 18.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.001ms + 18.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.260ms ×2 + 18.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.870ms + 18.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.979ms + 18.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.687ms ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985981 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985981 ms (missed cycles : 2).[0m ×2 + 18.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.292ms + 18.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.132ms + 19.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.897ms ×2 + 19.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.610ms + 19.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.625ms + 19.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.029ms + 19.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.682ms + 19.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.652ms ×2 + 19.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.194ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702563 ms (missed cycles : 6). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702563 ms (missed cycles : 6).[0m ×2 + 19.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.979ms + 19.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.831ms ×2 + 20.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.706ms ×2 + 20.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.806ms + 20.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.015ms + 20.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.346ms + 20.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.422ms ×2 + 20.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.477ms + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419066 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419066 ms (missed cycles : 2).[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.167ms ×2 + 20.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.565ms ×2 + 21.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.424ms + 21.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.187ms + 21.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.417ms + 21.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.809ms + 21.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.366ms + 21.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.421ms + 21.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.435ms + 21.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.587ms + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727132 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727132 ms (missed cycles : 3).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.677ms + 22.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.512ms + 22.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.436ms + 22.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.873ms + 22.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.924ms + 22.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.812ms + 22.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.518ms + 22.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.044ms + 22.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.437ms + 22.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.936ms ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705300 ms (missed cycles : 3). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705300 ms (missed cycles : 3).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.169ms + 23.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.559ms + 23.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.932ms + 23.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.691ms ×2 + 23.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.027ms ×2 + 23.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.556ms ×2 + 23.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.099ms + 23.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.549ms ×2 + 23.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.058ms + 23.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.488ms + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716528 ms (missed cycles : 4). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716528 ms (missed cycles : 4).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.121ms + 24.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.510ms + 24.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.537ms + 24.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.491ms + 24.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.019ms + 24.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.585ms ×2 + 24.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.575ms + 24.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.683ms ×2 + 24.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.440ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815886 ms (missed cycles : 3). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815886 ms (missed cycles : 3).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.789ms ×2 + 25.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.686ms + 25.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.482ms + 25.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.876ms + 25.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.023ms + 25.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.754ms ×2 + 25.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.170ms + 25.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.573ms ×2 + 25.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.375ms + 25.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.580ms + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090994 ms (missed cycles : 2). + 26.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090994 ms (missed cycles : 2).[0m ×2 + 26.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.094ms + 26.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.856ms ×2 + 26.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.497ms + 26.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.846ms + 26.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.632ms + 26.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.583ms + 26.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.544ms + 26.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.531ms + 26.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.525ms + 27.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835256 ms (missed cycles : 2). + 27.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835256 ms (missed cycles : 2).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.832ms ×2 + 27.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.604ms + 27.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.550ms + 27.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.603ms + 27.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.794ms ×2 + 27.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.531ms + 27.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.322ms + 27.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.125ms + 27.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.981ms + 27.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.953ms ×2 + 28.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.718ms ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352508 ms (missed cycles : 4). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352508 ms (missed cycles : 4).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.207ms + 28.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.389ms + 28.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.084ms ×2 + 28.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.547ms + 28.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.501ms + 28.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.695ms + 28.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.522ms + 28.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.871ms + 28.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.744ms + 29.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.586ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432690 ms (missed cycles : 4). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432690 ms (missed cycles : 4).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.588ms + 29.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.562ms + 29.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.923ms + 29.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.605ms + 29.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.596ms + 29.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.611ms + 29.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 29.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.655ms + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066456 ms (missed cycles : 6). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066456 ms (missed cycles : 6).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.810ms + 30.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.651ms + 30.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.729ms + 30.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.995ms + 30.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.401ms + 30.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.733ms + 30.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.289ms + 30.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.543ms + 30.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.295ms + 31.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.975ms + 31.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.006ms + 31.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.186ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.891278 ms (missed cycles : 7). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.891278 ms (missed cycles : 7).[0m ×2 + 31.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.687ms + 31.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.600ms + 31.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.703ms + 31.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms ×2 + 31.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.956ms + 31.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.026ms + 32.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.724ms + 32.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.700ms + 32.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.255ms + 32.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.529ms + 32.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839065 ms (missed cycles : 3). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839065 ms (missed cycles : 3).[0m ×2 + 32.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.642ms + 32.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.354ms ×2 + 32.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.333ms + 32.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.885ms + 33.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.283ms + 33.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.828ms + 33.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.705ms + 33.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.640ms + 33.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.601ms + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965202 ms (missed cycles : 3). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965202 ms (missed cycles : 3).[0m ×2 + 33.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.593ms + 33.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.202ms + 33.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.699ms + 33.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.602ms + 34.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms ×2 + 34.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.983ms + 34.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.622ms + 34.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.994ms + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037981 ms (missed cycles : 4). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037981 ms (missed cycles : 4).[0m ×2 + 34.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.984ms + 34.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.725ms ×2 + 34.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms ×2 + 34.97sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.97sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.402ms + 35.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.659ms ×2 + 35.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.498ms + 35.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.514ms + 35.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.472ms + 35.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.224ms + 35.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.741ms + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118997 ms (missed cycles : 5). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118997 ms (missed cycles : 5).[0m ×2 + 35.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.735ms + 35.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.833ms + 36.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.688ms + 36.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 36.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.199ms + 36.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.737ms + 36.69sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.380ms + 36.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.502ms + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928813 ms (missed cycles : 6). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928813 ms (missed cycles : 6).[0m ×2 + 36.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.755ms + 36.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.640ms + 37.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.650ms + 37.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.910ms + 37.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.102ms + 37.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.251ms + 37.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.381ms ×2 + 37.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.723ms + 37.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.808ms ×2 + 37.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.857ms + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177280 ms (missed cycles : 5). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177280 ms (missed cycles : 5).[0m ×2 + 37.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.614ms + 37.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.840ms + 38.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.412ms ×2 + 38.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.569ms + 38.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.670ms + 38.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.866ms + 38.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.993ms + 38.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.433ms + 38.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.714ms + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992673 ms (missed cycles : 3). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992673 ms (missed cycles : 3).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.827ms + 39.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.831ms ×2 + 39.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.573ms + 39.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.413ms + 39.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.800ms + 39.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.833ms + 39.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.829ms + 39.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.834ms + 39.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.546ms + 39.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.305ms + 39.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032864 ms (missed cycles : 2). + 39.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032864 ms (missed cycles : 2).[0m ×2 + 40.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.624ms + 40.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 40.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.933ms + 40.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.008ms + 40.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.881ms + 40.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.578ms + 40.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.338ms + 40.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.722ms + 40.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.799ms + 40.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.610ms + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875674 ms (missed cycles : 3). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875674 ms (missed cycles : 3).[0m ×2 + 41.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.898ms + 41.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.844ms + 41.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.883ms + 41.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.548ms + 41.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.591ms + 41.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.148ms + 41.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.762ms + 41.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.805ms + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785459 ms (missed cycles : 5). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785459 ms (missed cycles : 5).[0m ×2 + 42.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.156ms + 42.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.895ms ×2 + 42.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.919ms + 42.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.886ms + 42.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.915ms ×2 + 42.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.914ms + 42.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.711ms + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603499 ms (missed cycles : 4). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603499 ms (missed cycles : 4).[0m ×2 + 43.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.421ms + 43.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.608ms + 43.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.959ms + 43.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.550ms + 43.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.668ms + 43.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.819ms + 43.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.177ms + 43.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.901ms + 43.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.675ms + 44.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.888ms + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129522 ms (missed cycles : 5). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129522 ms (missed cycles : 5).[0m ×2 + 44.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.860ms + 44.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.874ms + 44.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.930ms + 44.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.872ms + 44.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.999ms + 44.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.865ms + 44.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.823ms + 45.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.756ms + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819860 ms (missed cycles : 2). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819860 ms (missed cycles : 2).[0m ×2 + 45.42sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.894ms + 45.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.782ms + 45.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.037ms + 45.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.162ms + 45.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.815ms + 45.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.198ms + 46.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.399ms + 46.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.609ms + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341885 ms (missed cycles : 2). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341885 ms (missed cycles : 2).[0m ×2 + 46.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.830ms + 46.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.185ms + 46.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.276ms + 46.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.574ms + 46.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.660ms + 47.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.239ms + 47.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.748ms + 47.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.070ms + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446667 ms (missed cycles : 4). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446667 ms (missed cycles : 4).[0m ×2 + 47.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.852ms + 47.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.498ms + 47.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.797ms + 47.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.495ms + 47.88sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.508ms + 47.98sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.681ms + 48.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.757ms + 48.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 48.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.437ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308454 ms (missed cycles : 4). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308454 ms (missed cycles : 4).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.090ms + 48.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.763ms + 49.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.713ms + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737562 ms (missed cycles : 2). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737562 ms (missed cycles : 2).[0m ×2 + 50.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163980 ms (missed cycles : 4). + 50.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163980 ms (missed cycles : 4).[0m ×2 + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519474 ms (missed cycles : 4). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519474 ms (missed cycles : 4).[0m ×2 + 51.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.473ms + 52.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.588ms + 52.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795636 ms (missed cycles : 5). + 52.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795636 ms (missed cycles : 5).[0m ×2 + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.624987 ms (missed cycles : 7). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.624987 ms (missed cycles : 7).[0m ×2 + 54.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724515 ms (missed cycles : 4). + 54.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724515 ms (missed cycles : 4).[0m ×2 + 55.18sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.807ms + 55.52sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.817ms + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379506 ms (missed cycles : 3). + 55.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379506 ms (missed cycles : 3).[0m ×2 + 55.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.173ms + 56.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.627ms + 56.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 56.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 56.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 57.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 57.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 58.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 59.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 59.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 59.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 60.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 60.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 60.68sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 60.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 61.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 61.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 61.40sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 61.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 61.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 62.48sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.2s | 183 warnings · 183 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.77sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms + 7.00sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.606ms + 7.06sINFOamclParticle filter update iteration stats: 686 particles 91 points - 0.747ms + 7.36sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.643ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857246 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857246 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112554 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112554 ms (missed cycles : 5).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.882ms + 9.10sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.635ms + 9.36sINFOamclParticle filter update iteration stats: 947 particles 91 points - 0.972ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889783 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889783 ms (missed cycles : 2).[0m ×2 + 9.86sINFOamclParticle filter update iteration stats: 1011 particles 91 points - 0.906ms + 10.36sINFOamclParticle filter update iteration stats: 1054 particles 91 points - 1.010ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449092 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449092 ms (missed cycles : 2).[0m ×2 + 10.96sINFOamclParticle filter update iteration stats: 1183 particles 91 points - 1.047ms + 11.40sINFOamclParticle filter update iteration stats: 828 particles 91 points - 1.185ms + 11.50sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.662ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192688 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192688 ms (missed cycles : 2).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 763 particles 91 points - 0.626ms + 11.66sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.971ms + 12.16sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.768ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802191 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802191 ms (missed cycles : 2).[0m ×2 + 12.66sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.784ms + 13.16sINFOamclParticle filter update iteration stats: 763 particles 91 points - 0.886ms + 13.30sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.668ms + 13.40sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.554ms + 13.46sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.852ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925616 ms (missed cycles : 3). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925616 ms (missed cycles : 3).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.730ms + 14.46sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.782ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242861 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242861 ms (missed cycles : 3).[0m ×2 + 14.96sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.686ms + 15.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.742ms + 15.46sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.704ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916663 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916663 ms (missed cycles : 2).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.586ms + 16.46sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.587ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190422 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190422 ms (missed cycles : 2).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.692ms + 17.46sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.614ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110737 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110737 ms (missed cycles : 2).[0m ×2 + 17.96sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.717ms + 18.46sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.738ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389842 ms (missed cycles : 3). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389842 ms (missed cycles : 3).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 839 particles 91 points - 0.768ms + 19.46sINFOamclParticle filter update iteration stats: 839 particles 91 points - 0.732ms + 19.96sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.800ms + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771141 ms (missed cycles : 6). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771141 ms (missed cycles : 6).[0m ×2 + 20.46sINFOamclParticle filter update iteration stats: 849 particles 91 points - 0.793ms + 20.96sINFOamclParticle filter update iteration stats: 957 particles 91 points - 0.897ms + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123142 ms (missed cycles : 4). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123142 ms (missed cycles : 4).[0m ×2 + 21.46sINFOamclParticle filter update iteration stats: 1022 particles 91 points - 0.879ms + 21.96sINFOamclParticle filter update iteration stats: 1086 particles 91 points - 0.983ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279447 ms (missed cycles : 3). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279447 ms (missed cycles : 3).[0m ×2 + 22.46sINFOamclParticle filter update iteration stats: 1129 particles 91 points - 1.075ms + 22.96sINFOamclParticle filter update iteration stats: 1151 particles 91 points - 1.094ms + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680136 ms (missed cycles : 4). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680136 ms (missed cycles : 4).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1247 particles 91 points - 1.266ms + 23.96sINFOamclParticle filter update iteration stats: 1236 particles 91 points - 1.331ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783467 ms (missed cycles : 4). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783467 ms (missed cycles : 4).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 806 particles 91 points - 1.421ms + 24.36sINFOamclParticle filter update iteration stats: 686 particles 91 points - 0.934ms + 24.86sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.739ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394714 ms (missed cycles : 5). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394714 ms (missed cycles : 5).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.676ms + 25.80sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.643ms + 25.86sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.839ms + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514324 ms (missed cycles : 4). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514324 ms (missed cycles : 4).[0m ×2 + 26.36sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.749ms + 26.40sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 26.57sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.925ms + 26.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.840ms + 27.16sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.699ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216979 ms (missed cycles : 6). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216979 ms (missed cycles : 6).[0m ×2 + 27.66sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.701ms + 28.16sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.597ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387498 ms (missed cycles : 3). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387498 ms (missed cycles : 3).[0m ×2 + 28.57sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.629ms + 28.67sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.701ms + 29.16sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.748ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292622 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292622 ms (missed cycles : 2).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.788ms + 30.16sINFOamclParticle filter update iteration stats: 817 particles 91 points - 7.285ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793312 ms (missed cycles : 4). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793312 ms (missed cycles : 4).[0m ×2 + 30.66sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.858ms + 31.07sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.874ms + 31.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.993ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074998 ms (missed cycles : 4). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074998 ms (missed cycles : 4).[0m ×2 + 31.76sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.779ms + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599431 ms (missed cycles : 6). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599431 ms (missed cycles : 6).[0m ×2 + 32.86sINFOamclParticle filter update iteration stats: 903 particles 91 points - 0.939ms + 33.49sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.49sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368360 ms (missed cycles : 3). + 33.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368360 ms (missed cycles : 3).[0m ×2 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136399 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136399 ms (missed cycles : 2).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701932 ms (missed cycles : 3). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701932 ms (missed cycles : 3).[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014816 ms (missed cycles : 5). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014816 ms (missed cycles : 5).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.924ms + 37.46sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.872ms + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593545 ms (missed cycles : 3). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593545 ms (missed cycles : 3).[0m ×2 + 38.57sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.730ms + 38.67sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.941ms + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484500 ms (missed cycles : 5). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484500 ms (missed cycles : 5).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.679ms + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682167 ms (missed cycles : 2). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682167 ms (missed cycles : 2).[0m ×2 + 39.96sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.807ms + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146005 ms (missed cycles : 3). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146005 ms (missed cycles : 3).[0m ×2 + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591086 ms (missed cycles : 2). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591086 ms (missed cycles : 2).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137605 ms (missed cycles : 4). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137605 ms (missed cycles : 4).[0m ×2 + 43.96sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.690ms + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729486 ms (missed cycles : 3). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729486 ms (missed cycles : 3).[0m ×2 + 44.27sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.766ms + 44.36sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.761ms + 44.61sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.863ms + 44.66sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.831ms + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.249806 ms (missed cycles : 5). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.249806 ms (missed cycles : 5).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726883 ms (missed cycles : 3). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726883 ms (missed cycles : 3).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.715ms + 46.56sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.839ms + 47.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857702 ms (missed cycles : 2). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857702 ms (missed cycles : 2).[0m ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104311 ms (missed cycles : 4). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104311 ms (missed cycles : 4).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.876ms + 48.96sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.834ms + 49.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312560 ms (missed cycles : 3). + 49.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312560 ms (missed cycles : 3).[0m ×2 + 50.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132015 ms (missed cycles : 2). + 50.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132015 ms (missed cycles : 2).[0m ×2 + 50.86sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.763ms + 51.10sINFOamclParticle filter update iteration stats: 763 particles 91 points - 0.934ms + 51.16sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.765ms + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354857 ms (missed cycles : 5). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354857 ms (missed cycles : 5).[0m ×2 + 52.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258717 ms (missed cycles : 5). + 52.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258717 ms (missed cycles : 5).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777494 ms (missed cycles : 2). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777494 ms (missed cycles : 2).[0m ×2 + 53.76sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.737ms + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040663 ms (missed cycles : 3). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040663 ms (missed cycles : 3).[0m ×2 + 55.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067946 ms (missed cycles : 6). + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067946 ms (missed cycles : 6).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.626ms + 55.96sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.757ms + 56.37sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.782ms + 56.46sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.607ms + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607579 ms (missed cycles : 2). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607579 ms (missed cycles : 2).[0m ×2 + 57.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076724 ms (missed cycles : 6). + 57.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076724 ms (missed cycles : 6).[0m ×2 + 57.96sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.683ms + 58.16sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.708ms + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.943960 ms (missed cycles : 6). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.943960 ms (missed cycles : 6).[0m ×2 + 59.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782230569.70525527 seconds ×3 + 59.16sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.565ms + 59.46sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.491ms + 59.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782230570.26229858 seconds. ×3 + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216643 ms (missed cycles : 5). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216643 ms (missed cycles : 5).[0m ×2 + 59.76sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.484ms + 59.94sINFOobjective_server_nodeFound path in 0 iterations (9.81e-07 s). ×2 + 59.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.10sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.661ms + 60.16sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.739ms + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997026 ms (missed cycles : 2). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997026 ms (missed cycles : 2).[0m ×2 + 60.96sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.579ms + 61.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855426 ms (missed cycles : 4). + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855426 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.0s | 177 warnings · 265 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.429ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.423ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.031ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 1.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.728ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.950ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.082ms + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.988ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782230376.67777038 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.187ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.863ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782230377.22913671 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.431ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.038ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.747ms + 5.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.961ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.97sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.839ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.817ms + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.000ms + 6.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.526ms + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.956ms ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449217 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449217 ms (missed cycles : 4).[0m ×2 + 7.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.549ms + 7.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.039ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363933 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363933 ms (missed cycles : 3).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.753ms + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.366ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008441 ms (missed cycles : 4). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008441 ms (missed cycles : 4).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.775ms + 10.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.708ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807984 ms (missed cycles : 6). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.807984 ms (missed cycles : 6).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.811ms + 11.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.859ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621955 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621955 ms (missed cycles : 4).[0m ×2 + 11.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.869ms + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.912ms + 12.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.786ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506019 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506019 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.730ms + 12.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.291ms + 13.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.882ms + 13.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.598ms + 13.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.310ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145668 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145668 ms (missed cycles : 4).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.981ms + 13.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.624ms + 14.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.884ms + 14.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.836ms + 14.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.092ms + 14.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.664ms + 14.61sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.258ms + 14.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.272ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152879 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152879 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.191ms + 14.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.667ms + 15.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.717ms + 15.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.045ms + 15.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.663ms ×2 + 15.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.648ms + 15.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.585ms + 15.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.599ms + 15.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.632ms + 15.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.545ms + 15.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.938ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701989 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701989 ms (missed cycles : 3).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.625ms + 16.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.480ms + 16.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.491ms + 16.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.510ms + 16.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.490ms + 16.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.574ms + 16.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.936ms + 16.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.415ms + 16.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.466ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225571 ms (missed cycles : 5). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225571 ms (missed cycles : 5).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.888ms + 17.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.561ms + 17.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.928ms + 17.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.477ms + 17.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.394ms + 17.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.421ms ×2 + 17.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.411ms ×2 + 17.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.504ms + 17.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.426ms ×2 + 17.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.366ms + 17.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.357ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183621 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183621 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.094ms + 18.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.371ms + 18.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.318ms + 18.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.253ms + 18.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.323ms + 18.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.538ms + 18.63sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.178ms ×2 + 18.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.165ms + 18.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.367ms + 18.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.313ms + 19.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.269ms + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418969 ms (missed cycles : 3). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418969 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.728ms + 19.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.272ms + 19.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 19.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.214ms + 19.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.289ms ×2 + 19.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.278ms + 19.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.333ms + 20.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.193ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816484 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816484 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.152ms + 20.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.274ms + 20.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.180ms + 20.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.332ms + 20.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.206ms + 20.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.840ms + 20.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.031ms + 20.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.594ms + 20.91sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.111ms + 21.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.752ms + 21.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.225ms + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065936 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065936 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.482ms ×2 + 21.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.403ms + 21.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.154ms + 21.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.105ms + 21.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.140ms + 21.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.607ms + 22.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.418ms + 22.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.155ms + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832447 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832447 ms (missed cycles : 2).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.209ms + 22.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.940ms + 23.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.806ms + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685141 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685141 ms (missed cycles : 2).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.191ms + 24.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.979ms ×2 + 24.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.242ms + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733842 ms (missed cycles : 6). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733842 ms (missed cycles : 6).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.981ms + 25.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.317ms + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160621 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160621 ms (missed cycles : 2).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.896ms ×2 + 26.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.369ms + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364844 ms (missed cycles : 3). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364844 ms (missed cycles : 3).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.147ms + 26.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.276ms + 27.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.774ms + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203171 ms (missed cycles : 2). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203171 ms (missed cycles : 2).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.266ms + 28.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.025ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892164 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892164 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms + 29.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.416ms + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831225 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831225 ms (missed cycles : 2).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.985ms + 30.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.000ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730620 ms (missed cycles : 3). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730620 ms (missed cycles : 3).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.489ms + 31.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.106ms + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756379 ms (missed cycles : 2). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756379 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921827 ms (missed cycles : 3). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921827 ms (missed cycles : 3).[0m ×2 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021061 ms (missed cycles : 4). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021061 ms (missed cycles : 4).[0m ×2 + 33.68sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.692ms + 34.32sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.32sINFOobjective_server_nodePlanning for 58 path waypoints. ×3 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813149 ms (missed cycles : 6). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813149 ms (missed cycles : 6).[0m ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018408 ms (missed cycles : 2). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018408 ms (missed cycles : 2).[0m ×2 + 36.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.134ms + 36.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.133ms + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209012 ms (missed cycles : 6). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209012 ms (missed cycles : 6).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.217ms + 37.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.078ms + 37.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.822ms + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189913 ms (missed cycles : 3). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189913 ms (missed cycles : 3).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.681ms + 38.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.973ms + 38.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522861 ms (missed cycles : 2). + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522861 ms (missed cycles : 2).[0m ×2 + 39.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.978ms + 39.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.146ms + 39.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.342186 ms (missed cycles : 6). + 39.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.342186 ms (missed cycles : 6).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.302ms + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.989978 ms (missed cycles : 6). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.989978 ms (missed cycles : 6).[0m ×2 + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986557 ms (missed cycles : 2). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986557 ms (missed cycles : 2).[0m ×2 + 42.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.672ms + 42.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.234ms + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659296 ms (missed cycles : 3). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659296 ms (missed cycles : 3).[0m ×2 + 43.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 44.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647697 ms (missed cycles : 2). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647697 ms (missed cycles : 2).[0m ×2 + 44.13sINFOros2_control_nodeMuJoCo sim: 0.93% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.446ms + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062153 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062153 ms (missed cycles : 2).[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.016ms + 45.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.995ms + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302220 ms (missed cycles : 4). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302220 ms (missed cycles : 4).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.069ms + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933601 ms (missed cycles : 3). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933601 ms (missed cycles : 3).[0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.891ms + 47.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.137ms + 47.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.600ms + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820112 ms (missed cycles : 5). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820112 ms (missed cycles : 5).[0m ×2 + 48.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.955ms + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263806 ms (missed cycles : 2). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263806 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.918ms + 49.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.158ms + 49.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.569ms + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229521 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229521 ms (missed cycles : 2).[0m ×2 + 51.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.524ms + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344077 ms (missed cycles : 3). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344077 ms (missed cycles : 3).[0m ×2 + 52.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.089ms + 52.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249294 ms (missed cycles : 2). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249294 ms (missed cycles : 2).[0m ×2 + 53.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689757 ms (missed cycles : 6). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689757 ms (missed cycles : 6).[0m ×2 + 53.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.205ms + 53.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.153ms + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908742 ms (missed cycles : 3). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908742 ms (missed cycles : 3).[0m ×2 + 55.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.971ms + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214797 ms (missed cycles : 5). + 55.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214797 ms (missed cycles : 5).[0m ×2 + 55.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.020ms + 56.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.442ms + 56.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089583 ms (missed cycles : 2). + 56.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089583 ms (missed cycles : 2).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553787 ms (missed cycles : 3). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553787 ms (missed cycles : 3).[0m ×2 + 57.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782230430.70928717 seconds ×3 + 57.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.894ms + 58.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.876ms + 58.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.491ms + 58.34sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782230431.26572871 seconds. ×3 + 58.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.167ms + 58.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.400ms + 58.69sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.941726 ms (missed cycles : 11). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.941726 ms (missed cycles : 11).[0m ×2 + 59.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.948ms + 59.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.946ms + 59.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.998ms + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740141 ms (missed cycles : 2). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740141 ms (missed cycles : 2).[0m ×2 + 59.89sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.882ms + 60.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.800ms + 60.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.072ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 147 warnings · 258 info |
+ 0.00sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.01sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.02sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.11sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.11sINFOros2Loaded joint_trajectory_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.11sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.12sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.12sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.12sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.12sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.46sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.52sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.52sINFOros2Loaded joint_velocity_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.89sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 0.89sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.32sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.32sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.32sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.33sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.35sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.35sINFOros2Loaded platform_velocity_controller ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.36sINFOplatform_velocity_controllerconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.37sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.37sINFOros2Configured and activated platform_velocity_controller ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.84sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.15sINFOmove_groupClearing octomap...[0m ×2 + 2.15sINFOmove_groupOctomap cleared.[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 2.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.02sINFOobjective_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 + 4.02sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.02sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 5.69sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.94sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887607 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887607 ms (missed cycles : 3).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678304 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678304 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354251 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354251 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368521 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368521 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470550 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470550 ms (missed cycles : 2).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086858 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086858 ms (missed cycles : 3).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521277 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521277 ms (missed cycles : 2).[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207200 ms (missed cycles : 5). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207200 ms (missed cycles : 5).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888946 ms (missed cycles : 6). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.888946 ms (missed cycles : 6).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982815 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982815 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916492 ms (missed cycles : 3). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916492 ms (missed cycles : 3).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983781 ms (missed cycles : 5). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.983781 ms (missed cycles : 5).[0m ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600797 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600797 ms (missed cycles : 3).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561028 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561028 ms (missed cycles : 3).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.451ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.396650 ms (missed cycles : 6). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.396650 ms (missed cycles : 6).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.523771 ms (missed cycles : 6). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.523771 ms (missed cycles : 6).[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702914 ms (missed cycles : 3). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702914 ms (missed cycles : 3).[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012762 ms (missed cycles : 4). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012762 ms (missed cycles : 4).[0m ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069761 ms (missed cycles : 4). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069761 ms (missed cycles : 4).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209416 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209416 ms (missed cycles : 2).[0m ×2 + 27.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351673 ms (missed cycles : 3). + 27.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351673 ms (missed cycles : 3).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568822 ms (missed cycles : 4). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568822 ms (missed cycles : 4).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085794 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085794 ms (missed cycles : 2).[0m ×2 + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918556 ms (missed cycles : 2). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918556 ms (missed cycles : 2).[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.451908 ms (missed cycles : 7). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.451908 ms (missed cycles : 7).[0m ×2 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098971 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098971 ms (missed cycles : 3).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026489 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026489 ms (missed cycles : 2).[0m ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885094 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885094 ms (missed cycles : 2).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971717 ms (missed cycles : 5). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.971717 ms (missed cycles : 5).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114941 ms (missed cycles : 2). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114941 ms (missed cycles : 2).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531602 ms (missed cycles : 3). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531602 ms (missed cycles : 3).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647884 ms (missed cycles : 3). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647884 ms (missed cycles : 3).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595242 ms (missed cycles : 5). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595242 ms (missed cycles : 5).[0m ×2 + 41.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.461ms + 41.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623698 ms (missed cycles : 2). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623698 ms (missed cycles : 2).[0m ×2 + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753475 ms (missed cycles : 3). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753475 ms (missed cycles : 3).[0m ×2 + 43.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955580 ms (missed cycles : 3). + 43.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955580 ms (missed cycles : 3).[0m ×2 + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3).[0m ×2 + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3).[0m ×2 + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3).[0m ×2 + 47.55sINFOjoint_trajectory_controllerGoal reached, success! + 47.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782230279.79458547 seconds ×3 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3).[0m ×2 + 47.63sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 48.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782230280.33769512 seconds. ×3 + 48.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2).[0m ×2 + 49.11sINFOobjective_server_nodeFound path in 0 iterations (2.3231e-05 s). ×2 + 49.11sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 108 warnings · 140 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.091ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907474 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907474 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198705 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198705 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.61sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782230344.83450270 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642020 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642020 ms (missed cycles : 5).[0m ×2 + 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 - 3.431ms ×2 + 4.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782230346.38760877 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620946 ms (missed cycles : 3). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620946 ms (missed cycles : 3).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578166 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578166 ms (missed cycles : 4).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950033 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950033 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.240ms + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955621 ms (missed cycles : 3). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955621 ms (missed cycles : 3).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.134ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949110 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949110 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.284ms + 9.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.858ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814725 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814725 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.256ms + 10.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.277ms + 10.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.266ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099881 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099881 ms (missed cycles : 2).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.264ms + 11.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.260ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845164 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845164 ms (missed cycles : 3).[0m ×2 + 12.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.458ms + 12.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.115ms + 13.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.269ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064123 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064123 ms (missed cycles : 3).[0m ×2 + 13.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.944ms ×2 + 13.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.144ms + 13.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.214ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687701 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687701 ms (missed cycles : 2).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.614ms + 14.81sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.186ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126819 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126819 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.845ms + 15.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.092ms + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116849 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116849 ms (missed cycles : 3).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.526ms + 16.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.648ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639310 ms (missed cycles : 5). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639310 ms (missed cycles : 5).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.478ms + 17.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.610ms + 17.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.289ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553923 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553923 ms (missed cycles : 3).[0m ×2 + 18.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.154ms + 18.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.620ms ×2 + 19.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.364ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807862 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807862 ms (missed cycles : 3).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.308ms + 19.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.761ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252450 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252450 ms (missed cycles : 3).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.363ms + 20.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.238ms + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585505 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585505 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.947ms + 21.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.213ms + 22.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.890ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404877 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404877 ms (missed cycles : 3).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.401ms + 23.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.164ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511007 ms (missed cycles : 4). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511007 ms (missed cycles : 4).[0m ×2 + 23.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.887ms + 23.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.370ms + 24.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.647ms + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288195 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288195 ms (missed cycles : 3).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.351ms + 25.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.332ms + 25.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.383ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163085 ms (missed cycles : 2). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163085 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.465ms + 26.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.183ms + 26.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.194ms + 26.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128772 ms (missed cycles : 2). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128772 ms (missed cycles : 2).[0m ×2 + 26.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.440ms + 26.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.372ms + 27.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.434ms + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162849 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162849 ms (missed cycles : 3).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.669ms + 28.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.223ms + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037616 ms (missed cycles : 6). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037616 ms (missed cycles : 6).[0m ×2 + 28.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.136ms + 28.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.475ms + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940715 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940715 ms (missed cycles : 2).[0m ×2 + 29.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.310ms + 30.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.925ms + 30.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.429ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.423ms + 31.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.031ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 32.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.728ms + 32.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.950ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2).[0m ×2 + 32.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 33.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.082ms + 33.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.988ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3).[0m ×2 + 34.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782230376.67777038 seconds ×3 + 34.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.187ms + 34.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.863ms + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3).[0m ×2 + 35.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782230377.22913671 seconds. ×3 + 35.37sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 35.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 35.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.038ms + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 36.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.747ms + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.961ms + 36.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.839ms + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2).[0m ×2 + 37.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.817ms + 37.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.000ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 57 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067946 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.067946 ms (missed cycles : 6).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.626ms + 0.38sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.757ms + 0.80sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.782ms + 0.88sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.607ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607579 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607579 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076724 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076724 ms (missed cycles : 6).[0m ×2 + 2.38sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.683ms + 2.58sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.708ms + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.943960 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.943960 ms (missed cycles : 6).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.42sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.47sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782230569.70525527 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.565ms + 3.88sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.491ms + 4.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782230570.26229858 seconds. ×3 + 4.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216643 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216643 ms (missed cycles : 5).[0m ×2 + 4.18sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.484ms + 4.37sINFOobjective_server_nodeFound path in 0 iterations (9.81e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.52sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.661ms + 4.58sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.739ms + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997026 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997026 ms (missed cycles : 2).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.579ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855426 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855426 ms (missed cycles : 4).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.624ms + 6.72sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.580ms + 6.82sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.470ms + 6.88sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.644ms + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724043 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724043 ms (missed cycles : 2).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906388 ms (missed cycles : 5). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906388 ms (missed cycles : 5).[0m ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (1.1e-06 s). ×2 + 9.21sINFOobjective_server_nodeFound path in 29 iterations (0.0332349 s). ×2 + 9.22sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.511ms + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965468 ms (missed cycles : 5). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965468 ms (missed cycles : 5).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.466ms + 9.38sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.578ms + 9.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X______X] ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.79sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.635ms + 9.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.88sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.916ms + 9.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.25sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479787 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479787 ms (missed cycles : 2).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.658ms + 10.78sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.647ms + 11.20sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.698ms + 11.28sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.735ms + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262692 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262692 ms (missed cycles : 2).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.579ms + 11.72sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.714ms + 11.82sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.584ms + 11.98sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.660ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511681 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511681 ms (missed cycles : 2).[0m ×2 + 12.68sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.627ms + 13.10sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.751ms + 13.18sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.954ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.633ms + 13.78sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.603ms + 14.42sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.606ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5).[0m ×2 + 14.58sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.632ms + 15.19sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.630ms + 15.28sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.667ms + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5).[0m ×2 + 15.59sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.667ms + 15.68sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.620ms + 16.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782230582.48794556 seconds ×3 + 16.28sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.499ms + 16.58sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.538ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.612ms + 16.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782230583.08938217 seconds. ×3 + 16.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.86sINFOmove_groupClearing octomap...[0m ×2 + 16.86sINFOmove_groupOctomap cleared.[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.590ms + 17.18sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.492ms + 17.48sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.544ms + 17.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782230583.75954986 seconds ×3 + 17.58sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.574ms + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4).[0m ×2 + 17.88sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.461ms + 18.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782230584.30185318 seconds. ×3 + 18.18sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 18.48sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.496ms + 18.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782230584.76201057 seconds ×3 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3).[0m ×2 + 18.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.78sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.450ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 65 errors · 33 warnings · 383 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.633ms + 0.37sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.603ms + 1.01sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.606ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.632ms + 1.79sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.630ms + 1.87sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.667ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.667ms + 2.27sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.620ms + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782230582.48794556 seconds ×3 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.499ms + 3.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.538ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.612ms + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782230583.08938217 seconds. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.590ms + 3.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.492ms + 4.07sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.544ms + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782230583.75954986 seconds ×3 + 4.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.574ms + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.461ms + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782230584.30185318 seconds. ×3 + 4.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 5.07sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.496ms + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782230584.76201057 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3).[0m ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.37sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.450ms + 5.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.504ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488131 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488131 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183155 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183155 ms (missed cycles : 2).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.496ms + 7.51sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.469ms + 7.67sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.557ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244505 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244505 ms (missed cycles : 2).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.481ms + 9.51sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.438ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258720 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258720 ms (missed cycles : 2).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.547ms + 9.92sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.480ms + 10.07sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.576ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078094 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078094 ms (missed cycles : 3).[0m ×2 + 11.14sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 11.21sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 11.25sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.27sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.29sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.31sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.32sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.34sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.36sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.39sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.41sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.43sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.46sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.46sINFOcontroller_managerShutdown request received.... + 11.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.46sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.46sINFOcontroller_managerShutting down the controller manager. + 11.48sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.48sINFOweb_video_server-30process has finished cleanly [pid 9307] ×2 + 11.49sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.49sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9305] ×2 + 11.50sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.53sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.54sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.56sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.56sERRORui_teleop_bridge-27process has died [pid 9287, 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_gx101j11']. ×2 + 11.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.58sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.58sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.58sINFOcontroller_serverCleaning up + 11.58sINFOlocal_costmap.local_costmapCleaning up + 11.58sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.59sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.59sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.59sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.59sINFOui_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 + 11.59sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.59sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.59sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.59sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.59sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.59sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.59sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.59sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.59sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.59sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.59sINFOobjective_server_node[2026-06-23 16:03:11.098] [moveit_pro_license] [info] ×2 + 11.59sINFOobjective_server_node************************************************* ×4 + 11.59sINFOobjective_server_node* MoveIt Pro License ×2 + 11.59sINFOobjective_server_node* Application has successfully terminated ×2 + 11.60sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.60sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.60sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.60sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.60sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.60sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.60sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.60sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.60sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.60sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.60sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.60sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.60sINFOmove_groupDeleting MoveItCpp[0m ×2 + 11.60sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.60sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557d285366a4, in _start ×2 + 11.60sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59abaa228a, in __libc_start_main ×2 + 11.60sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59abaa21d0, in ×2 + 11.60sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59ababfbbd, in exit ×2 + 11.60sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59ababfa75, in ×2 + 11.60sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f59abf914a2, in spdlog::details::registry::~registry() ×2 + 11.60sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f59abf9c69d, 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 + 11.60sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f59abf96965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.60sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557d2853d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.60sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557d2853c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.60sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557d28538b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.60sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557d28536d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.60sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59ac62f454, in rclcpp::Node::~Node() ×2 + 11.60sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59ac5ea515, in ×2 + 11.60sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59ac62dd20, in ×2 + 11.60sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59ac62dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.60sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59ac5ea5d9, in ×2 + 11.60sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59ac5ef161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.60sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f59605d2140]) ×2 + 11.61sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.61sINFOodom_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 + 11.61sINFOodom_qos_relay.pymain() ×2 + 11.61sINFOodom_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 + 11.61sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.61sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.61sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.61sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.61sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.61sINFOodom_qos_relay.pywait_set = _rclpy.WaitSet( ×2 + 11.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^ ×2 + 11.61sINFOodom_qos_relay.pyrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.61sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.61sINFOmove_groupStopping world geometry monitor[0m ×2 + 11.61sINFOmove_groupStopping planning scene monitor[0m ×2 + 11.61sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.62sINFOexecute_objective_bridge-26process has finished cleanly [pid 9286] ×2 + 11.62sERRORobjective_server_node_main-24process has died [pid 9284, 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_k57qn4ei --params-file /tmp/launch_params_yvkwpa5n --params-file /tmp/launch_params_4sl1m2q_ --params-file /tmp/launch_params_c14jfyf8 --params-file /tmp/launch_params_1iq4wa2b --params-file /tmp/launch_params_e4_m3c2o --params-file /tmp/launch_params_n3542dl2 --params-file /tmp/launch_params__aeg9d6w --params-file /tmp/launch_params_ks60pbpa']. ×2 + 11.62sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.63sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.63sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.63sINFOmap_serverDeactivating + 11.63sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.64sINFOmap_serverCleaning up + 11.64sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.64sINFOsmoother_serverCleaning up + 11.65sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.65sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.65sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.65sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.65sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.67sERRORamclThe bond connection to the lifecycle manager has been broken + 11.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.68sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.68sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.68sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.68sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.68sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.68sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.68sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.68sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.68sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.68sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.68sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.19sERRORcomponent_container_isolated-1process has died [pid 9153, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_44jeqxw7 --params-file /tmp/launch_params_qinvrjf6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.40sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9283] ×2 + 12.41sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9240] ×2 + 12.48sINFOparameter_manager_node-20process has finished cleanly [pid 9238] ×2 + 12.49sINFOwaypoint_manager_node-21process has finished cleanly [pid 9239] ×2 + 12.52sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9158] ×2 + 12.55sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9157] ×2 + 12.58sINFOstatic_transform_publisher-3process has finished cleanly [pid 9155] ×2 + 12.59sINFOcomponent_container_mt-25process has finished cleanly [pid 9285] ×2 + 12.61sINFOstatic_transform_publisher-2process has finished cleanly [pid 9154] ×2 + 12.64sERRORodom_qos_relay.py-4process has died [pid 9156, 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 + 12.64sINFOmove_group-19process has finished cleanly [pid 9237] ×2 + 13.29sINFOros2_control_node-7process has finished cleanly [pid 9159] ×2 + 14.00sINFOweb_bridge-28process has finished cleanly [pid 9289] ×2 + 14.00sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 51 warnings · 109 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.205ms + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.153ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908742 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908742 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.971ms + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214797 ms (missed cycles : 5). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214797 ms (missed cycles : 5).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.020ms + 2.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.442ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089583 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089583 ms (missed cycles : 2).[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553787 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553787 ms (missed cycles : 3).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782230430.70928717 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.894ms + 4.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.876ms + 4.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.491ms + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782230431.26572871 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.167ms + 4.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.400ms + 4.86sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×4 + 4.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.411ms ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.941726 ms (missed cycles : 11). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.941726 ms (missed cycles : 11).[0m ×2 + 5.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.948ms + 5.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.946ms + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.998ms + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740141 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740141 ms (missed cycles : 2).[0m ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.882ms + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.800ms + 6.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.072ms + 6.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.979ms + 6.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.162ms ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275585 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275585 ms (missed cycles : 3).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757098 ms (missed cycles : 3). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757098 ms (missed cycles : 3).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.094ms + 9.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.369ms + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502252 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502252 ms (missed cycles : 3).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.720ms + 9.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.290ms + 9.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.116ms + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405423 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405423 ms (missed cycles : 3).[0m ×2 + 10.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.353ms + 10.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.031ms + 10.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.138ms + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778200 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778200 ms (missed cycles : 3).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.890ms + 11.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.935ms + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.234ms + 11.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.374ms + 12.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099906 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099906 ms (missed cycles : 2).[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.839ms + 13.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.930ms + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781621 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781621 ms (missed cycles : 2).[0m ×2 + 13.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.770ms + 14.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.771ms + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082225 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082225 ms (missed cycles : 2).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.818ms + 14.86sINFOjoint_trajectory_controllerGot request to cancel goal + 14.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.86sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782230441.65469837 seconds ×3 + 14.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.145ms + 15.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.083ms + 15.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.372ms + 15.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.951ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513576 ms (missed cycles : 4). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513576 ms (missed cycles : 4).[0m ×2 + 15.45sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782230442.21262813 seconds. ×3 + 15.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.389ms + 15.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.781ms + 16.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.111ms + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861114 ms (missed cycles : 3). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861114 ms (missed cycles : 3).[0m ×2 + 16.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.954ms + 17.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.118ms + 17.10sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.042ms + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580813 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580813 ms (missed cycles : 3).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.122ms + 17.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.468ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 71 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.09sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×4 + 5.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.091ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907474 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907474 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198705 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198705 ms (missed cycles : 2).[0m ×2 + 8.71sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782230344.83450270 seconds ×3 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642020 ms (missed cycles : 5). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642020 ms (missed cycles : 5).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.431ms + 10.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782230346.38760877 seconds. ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620946 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620946 ms (missed cycles : 3).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578166 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578166 ms (missed cycles : 4).[0m ×2 + 12.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 30 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782230279.79458547 seconds ×3 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782230280.33769512 seconds. ×3 + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.3231e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.143390 ms (missed cycles : 8). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.143390 ms (missed cycles : 8).[0m ×2 + 6.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782230283.44786382 seconds ×3 + 7.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782230283.99973559 seconds. ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.520127 ms (missed cycles : 7). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.520127 ms (missed cycles : 7).[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883416 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883416 ms (missed cycles : 5).[0m ×2 + 9.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124872 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124872 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511681 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511681 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.627ms + 0.69sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.751ms + 0.77sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.954ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.633ms + 1.37sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.603ms + 2.01sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.606ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.632ms + 2.79sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.630ms + 2.87sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.667ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.667ms + 3.27sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.620ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782230582.48794556 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.499ms + 4.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.538ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.612ms + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782230583.08938217 seconds. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.590ms + 4.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.492ms + 5.07sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.544ms + 5.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782230583.75954986 seconds ×3 + 5.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.574ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.461ms + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782230584.30185318 seconds. ×3 + 5.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 6.07sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.496ms + 6.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782230584.76201057 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3).[0m ×2 + 6.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.450ms + 6.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.504ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488131 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488131 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.429ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.423ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.031ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 1.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.728ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.950ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.082ms + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.988ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782230376.67777038 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.187ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.863ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782230377.22913671 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.431ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.038ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.747ms + 5.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.961ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.839ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.817ms + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.000ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.429ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.423ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.031ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 1.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.728ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.950ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.082ms + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.988ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782230376.67777038 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.187ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.863ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782230377.22913671 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.431ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.038ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.747ms + 5.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.961ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.839ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.817ms + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.000ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 1.105ms + 0.06sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.935ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206583 ms (missed cycles : 3).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.808ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305976 ms (missed cycles : 2).[0m ×2 + 1.56sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.607ms + 2.06sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.836ms + 2.17sINFOamclParticle filter update iteration stats: 947 particles 91 points - 1.113ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242584 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.524998 ms (missed cycles : 7).[0m ×2 + 3.76sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782230514.47278500 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.935ms + 3.96sINFOamclParticle filter update iteration stats: 795 particles 91 points - 0.845ms + 4.26sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.788ms + 4.37sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.730ms + 4.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782230515.04507828 seconds. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047744 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOamclParticle filter update iteration stats: 828 particles 91 points - 0.855ms + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.96sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.867ms + 5.26sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.724ms + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736223 ms (missed cycles : 2).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.759ms + 5.86sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.886ms + 6.16sINFOamclParticle filter update iteration stats: 719 particles 91 points - 0.917ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331369 ms (missed cycles : 3).[0m ×2 + 6.66sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.611ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782230279.79458547 seconds ×3 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782230280.33769512 seconds. ×3 + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.3231e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441698 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911273 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673312 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782230279.79458547 seconds ×3 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 3.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782230280.33769512 seconds. ×3 + 3.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.3231e-05 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 61 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782230279.79458547 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175661 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.720ms + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782230280.33769512 seconds. ×3 + 0.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952657 ms (missed cycles : 2).[0m ×2 + 1.56sINFOobjective_server_nodeFound path in 0 iterations (2.3231e-05 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.59sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.851ms + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309911 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.143390 ms (missed cycles : 8). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.143390 ms (missed cycles : 8).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782230283.44786382 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782230283.99973559 seconds. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.520127 ms (missed cycles : 7). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.520127 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883416 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883416 ms (missed cycles : 5).[0m ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124872 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124872 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 40 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.721ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814907 ms (missed cycles : 6).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.862ms + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048650 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.674ms + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030290 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.619ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.930ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623040 ms (missed cycles : 4).[0m ×2 + 4.09sINFOjoint_trajectory_controllerGoal reached, success! + 4.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782230340.22988820 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.314ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.538ms + 4.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.557ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782230340.79401541 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.052ms + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.598ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517407 ms (missed cycles : 4).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.892ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232397 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.429ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933271 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.423ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.031ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159331 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.165ms + 1.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.728ms + 2.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.950ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003894 ms (missed cycles : 2).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.112ms + 2.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.082ms + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.988ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.736851 ms (missed cycles : 3).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782230376.67777038 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.187ms + 4.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.863ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001802 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782230377.22913671 seconds. ×3 + 4.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.431ms + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.844ms + 5.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.038ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801869 ms (missed cycles : 2).[0m ×2 + 5.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.917ms + 5.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.747ms + 5.71sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.961ms + 5.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.839ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897032 ms (missed cycles : 2).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.817ms + 6.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.000ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511681 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511681 ms (missed cycles : 2).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.627ms + 0.69sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.751ms + 0.77sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.954ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020079 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.633ms + 1.37sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.603ms + 2.01sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.606ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.472496 ms (missed cycles : 5).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.632ms + 2.79sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.630ms + 2.87sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.667ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480947 ms (missed cycles : 5).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.667ms + 3.27sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.620ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782230582.48794556 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.499ms + 4.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.538ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647961 ms (missed cycles : 3).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.612ms + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782230583.08938217 seconds. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.590ms + 4.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.492ms + 5.07sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.544ms + 5.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782230583.75954986 seconds ×3 + 5.17sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.574ms + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806553 ms (missed cycles : 4).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.461ms + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782230584.30185318 seconds. ×3 + 5.77sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 6.07sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.496ms + 6.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782230584.76201057 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969789 ms (missed cycles : 3).[0m ×2 + 6.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.450ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[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 · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.7s | 15 errors · 297 warnings · 1109 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/2026-06-23-15-56-47-654798-ad0d09f432c1-9104 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.13sINFOstatic_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' + 13.13sINFOstatic_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' + 13.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.27sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.27sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.27sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.28sINFOcontroller_managerupdate rate is 600 Hz + 13.28sINFOcontroller_managerOverruns handling is : enabled + 13.28sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.28sWARNcontroller_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. + 13.31sINFOcontroller_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. + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459009 ms (missed cycles : 4). + 13.37sINFOros2_control_node-7process started with pid [9159] ×2 + 13.37sINFOmove_group-19process started with pid [9237] ×2 + 13.37sINFOparameter_manager_node-20process started with pid [9238] ×2 + 13.37sINFOwaypoint_manager_node-21process started with pid [9239] ×2 + 13.37sINFOmove_joint_resampler_node-22process started with pid [9240] ×2 + 13.37sINFOmove_end_effector_resampler_node-23process started with pid [9283] ×2 + 13.37sINFOobjective_server_node_main-24process started with pid [9284] ×2 + 13.38sINFOcomponent_container_mt-25process started with pid [9285] ×2 + 13.38sINFOexecute_objective_bridge-26process started with pid [9286] ×2 + 13.38sINFOui_teleop_bridge-27process started with pid [9287] ×2 + 13.38sINFOweb_bridge-28process started with pid [9289] ×2 + 13.38sINFOtf2_web_republisher_node-29process started with pid [9305] ×2 + 13.38sINFOweb_video_server-30process started with pid [9307] ×2 + 13.38sINFOcontroller_serverCreating controller server + 13.40sINFOlocal_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. + 13.42sINFOlocal_costmap.local_costmapCreating Costmap + 13.42sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.42sINFOcomponent_container_isolated-1process started with pid [9153] ×2 + 13.42sINFOstatic_transform_publisher-2process started with pid [9154] ×2 + 13.42sINFOstatic_transform_publisher-3process started with pid [9155] ×2 + 13.42sINFOodom_qos_relay.py-4process started with pid [9156] ×2 + 13.42sINFOscan_to_scan_filter_chain-5process started with pid [9157] ×2 + 13.42sINFOscan_to_scan_filter_chain-6process started with pid [9158] ×2 + 13.42sINFOros2-8process started with pid [9160] ×2 + 13.42sINFOros2-9process started with pid [9227] ×2 + 13.42sINFOros2-10process started with pid [9228] ×2 + 13.42sINFOros2-11process started with pid [9229] ×2 + 13.42sINFOros2-12process started with pid [9230] ×2 + 13.42sINFOros2-13process started with pid [9231] ×2 + 13.42sINFOros2-14process started with pid [9232] ×2 + 13.42sINFOros2-15process started with pid [9233] ×2 + 13.42sINFOros2-16process started with pid [9234] ×2 + 13.42sINFOros2-17process started with pid [9235] ×2 + 13.42sINFOros2-18process started with pid [9236] ×2 + 13.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.51sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 13.51sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.51sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.51sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.51sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 13.51sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 13.51sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.51sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.51sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.51sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.51sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.51sWARNros2_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 + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459009 ms (missed cycles : 4).[0m ×2 + 13.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.54sINFOmap_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. + 13.54sINFOmap_serverCreating + 13.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.55sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.55sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.59sINFOsmoother_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. + 13.63sINFOsmoother_serverCreating smoother server + 13.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.68sINFOrobot_state_publisherRobot initialized + 13.68sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.68sINFOcontroller_managerReceived robot description from topic. + 13.68sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.68sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.68sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.72sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.72sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.74sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.74sINFOplanner_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. + 13.78sINFOplanner_serverCreating + 13.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.81sINFOglobal_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. + 13.82sINFOglobal_costmap.global_costmapCreating Costmap + 13.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.87sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.88sINFOlifecycle_manager_localizationCreating + 13.90sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.92sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.92sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.92sINFOmap_serverConfiguring + 13.94sINFObehavior_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. + 13.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.02sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.02sINFOamclConfiguring + 14.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.03sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.03sINFOmap_serverActivating + 14.03sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.08sINFObt_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. + 14.10sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.302792 seconds + 14.10sINFObt_navigatorCreating + 14.11sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.11sINFOmove_groupLoaded robot model in 0.302792 seconds[0m ×2 + 14.11sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.11sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.11sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 14.13sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 14.14sWARNlaser_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. + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 14.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 14.14sWARNlaser_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. + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 14.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 14.14sWARNscan_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 + 14.15sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.15sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.15sINFOamclActivating + 14.15sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.15sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.17sINFOwaypoint_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. + 14.18sINFOwaypoint_followerCreating + 14.18sINFOamclSubscribed to map_topic: /map + 14.18sINFOamclSubscribed to scan_topic: /scan_front_filtered + 14.18sINFOamclCreated reinitialize_global_localization service + 14.19sINFOamclCreated request_nomotion_update service + 14.19sINFOamclA new map was received + 14.19sINFOamclInitializing particle filter instance + 14.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.26sINFOvelocity_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. + 14.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.30sINFOlifecycle_manager_navigationCreating + 14.32sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403934 ms (missed cycles : 3). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403934 ms (missed cycles : 3).[0m ×2 + 14.34sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.34sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.34sINFOcontroller_serverConfiguring controller interface + 14.34sINFOcontroller_servergetting progress checker plugins.. + 14.34sINFOcontroller_servergetting goal checker plugins.. + 14.34sINFOcontroller_serverController frequency set to 20.0000Hz + 14.34sINFOlocal_costmap.local_costmapConfiguring + 14.36sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.38sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.42sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.42sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.43sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.48sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.48sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.48sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.49sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.50sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.52sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.53sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.53sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.54sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.54sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.54sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.54sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.54sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.54sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.55sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.55sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.55sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.56sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.56sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.57sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.57sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.57sINFOcontroller_serverOptimizer reset + 14.59sINFOcontroller_serverController Server has FollowPath controllers available. + 14.64sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.64sINFOsmoother_serverConfiguring smoother server + 14.66sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.66sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.68sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.68sINFOplanner_serverConfiguring + 14.68sINFOglobal_costmap.global_costmapConfiguring + 14.69sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.71sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.71sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.71sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.72sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.75sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.75sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.76sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.81sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.81sFATALplanner_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 + 14.82sINFOplanner_serverCleaning up + 14.82sINFOglobal_costmap.global_costmapCleaning up + 14.86sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.86sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.92sINFOamclParticle filter initialization completed + 14.93sINFOamclInitializing particles from map + 14.93sINFOamclParticle filter initialized with 2000 particles distributed across the map + 14.96sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.96sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.96sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.96sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.96sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.97sWARNmove_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. + 14.97sWARNmove_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 + 14.97sWARNmove_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. + 14.97sWARNmove_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 + 14.97sWARNmove_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. + 14.97sWARNmove_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 + 14.98sWARNmove_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. + 14.98sWARNmove_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 + 14.98sWARNmove_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. + 14.98sWARNmove_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 + 14.99sWARNmove_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. + 14.99sWARNmove_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 + 14.99sWARNmove_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. + 14.99sWARNmove_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. + 14.99sWARNmove_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. + 14.99sWARNmove_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. + 14.99sWARNmove_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 + 14.99sWARNmove_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 + 15.00sWARNmove_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 + 15.00sWARNmove_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 + 15.03sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.06sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 15.06sINFOros2waiting for service /controller_manager/list_controllers to become available... ×10 + 15.08sINFOwaypoint_manager_nodeLoaded robot model in 0.457451 seconds[0m ×2 + 15.08sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.08sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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. + 15.43sWARNwaypoint_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 + 15.43sWARNwaypoint_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. + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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 + 15.44sWARNwaypoint_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. + 15.44sWARNwaypoint_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. + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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. + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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. + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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. + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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. + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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. + 15.45sWARNwaypoint_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. + 15.45sWARNwaypoint_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 + 15.45sWARNwaypoint_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 + 15.48sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.48sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.48sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.48sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.50sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.50sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.50sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.50sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.50sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.50sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.50sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.50sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.50sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.51sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.51sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.51sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.51sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.51sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.87sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.87sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.88sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.08sINFOros2-31process started with pid [9812] ×2 + 16.15sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.15sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.15sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.15sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.15sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.15sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.15sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.15sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.15sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.15sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.15sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.18sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.18sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.18sWARNros2_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 + 16.28sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.084ms + 16.32sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.32sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 16.32sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.32sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 16.48sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 16.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187975 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187975 ms (missed cycles : 2).[0m ×2 + 16.51sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 16.51sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 16.51sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 16.51sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.63sINFOobjective_server_node[2026-06-23 15:57:07.458] [moveit_pro_license] [info] ×2 + 16.63sINFOobjective_server_node************************************************* ×4 + 16.63sINFOobjective_server_node* MoveIt Pro License ×2 + 16.63sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.71sINFOobjective_server_nodeLoaded robot model in 0.0217328 seconds[0m ×2 + 16.71sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.71sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.79sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.83sWARNcomponent_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 + 17.15sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.15sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.15sWARNobjective_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. + 17.15sWARNobjective_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. + 17.15sWARNobjective_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. + 17.15sWARNobjective_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. + 17.15sWARNobjective_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. + 17.15sWARNobjective_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 + 17.15sWARNobjective_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. + 17.15sWARNobjective_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 + 17.15sWARNobjective_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 + 17.15sWARNobjective_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. + 17.15sWARNobjective_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. + 17.16sWARNobjective_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. + 17.16sWARNobjective_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. + 17.16sWARNobjective_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 + 17.16sWARNobjective_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 + 17.16sWARNobjective_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 + 17.16sWARNobjective_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 + 17.16sWARNobjective_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 + 17.16sWARNobjective_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 + 17.16sWARNobjective_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 + 17.22sINFOcomponent_container_mtLoaded robot model in 0.386845 seconds[0m ×2 + 17.22sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.22sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.23sINFOros2_control_node[2026-06-23 15:57:08.060] [info] Controller state will be published at 20 Hz. ×2 + 17.23sINFOros2_control_node[2026-06-23 15:57:08.063] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.25sINFOobjective_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 + 17.25sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.27sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.27sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.28sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.28sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.28sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.28sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.28sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.39sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.39sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.58sWARNplanning_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. + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.58sWARNplanning_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. + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNcomponent_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 + 17.58sWARNplanning_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. + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.58sWARNplanning_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. + 17.58sWARNplanning_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. + 17.58sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.59sWARNplanning_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. + 17.59sWARNplanning_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. + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.59sWARNplanning_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. + 17.59sWARNplanning_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. + 17.59sWARNcomponent_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 + 17.59sWARNcomponent_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 + 17.60sWARNplanning_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. + 17.60sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.60sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.60sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.60sWARNplanning_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. + 17.60sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.60sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.60sWARNplanning_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. + 17.60sWARNcomponent_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 + 17.60sWARNcomponent_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 + 17.60sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 17.60sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 17.61sINFOros2-18process has finished cleanly [pid 9236] ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505262 ms (missed cycles : 6). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505262 ms (missed cycles : 6).[0m ×2 + 17.64sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 17.64sINFOros2Loaded imu_sensor_broadcaster ×2 + 17.64sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.64sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.65sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.65sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 17.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 17.65sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 17.65sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 17.87sINFOros2publisher: beginning loop ×2 + 17.87sINFOamclInitializing particles from estimated pose and covariance + 17.87sINFOros2publishing #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 + 17.87sINFOros20. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , ×6 + 17.87sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 + 17.87sINFOros20. , 0. , 0. , 0.0685]))) ×2 + 17.87sINFOros2 ×2 + 17.98sINFOros2-9process has finished cleanly [pid 9227] ×2 + 17.98sINFOamclParticle filter update iteration stats: 1830 particles 91 points - 2.783ms + 17.99sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.99sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.99sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.99sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.99sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.99sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 18.00sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 18.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.03sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 18.03sINFOros2Loaded joint_state_broadcaster ×2 + 18.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.05sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 18.05sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 18.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.05sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 18.05sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 18.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.07sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 18.07sINFOros2Configured and activated joint_state_broadcaster ×2 + 18.13sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 18.13sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.13sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.13sINFOmove_groupMoveGroup debug mode is ON + 18.13sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.13sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.19sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.29sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.29sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.31sINFOros2-31process has finished cleanly [pid 9812] ×2 + 18.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 18.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 18.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 18.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 18.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 18.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 18.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.40sINFOros2-10process has finished cleanly [pid 9228] ×2 + 18.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.43sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 18.43sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 18.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 18.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 18.44sINFOforce_torque_sensor_broadcasterconfigure successful + 18.44sINFOros2_control_nodeconfigure successful[0m ×6 + 18.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 18.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 18.45sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 18.45sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.49sINFOmove_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
********************************************************
+ 18.49sINFOmove_group ×8 + 18.49sINFOmove_group******************************************************** ×4 + 18.49sINFOmove_group* MoveGroup using: ×2 + 18.49sINFOmove_group* - apply_planning_scene_service ×2 + 18.49sINFOmove_group* - clear_octomap_service ×2 + 18.49sINFOmove_group* - ExecuteTaskSolution ×2 + 18.49sINFOmove_group* - get_group_urdf ×2 + 18.49sINFOmove_group* - load_geometry_from_file ×2 + 18.49sINFOmove_group* - get_planning_scene_service ×2 + 18.49sINFOmove_group* - kinematics_service ×2 + 18.49sINFOmove_group* - save_geometry_to_file ×2 + 18.49sINFOmove_group* - GetPlanningGroups ×2 + 18.49sINFOmove_group* - SetActiveControllerService ×2 + 18.49sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.49sINFOmove_group[0m ×2 + 18.49sINFOmove_group[92mYou can start planning now![0m ×2 + 18.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.52sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.52sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.52sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.53sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768868 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768868 ms (missed cycles : 2).[0m ×2 + 18.78sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.78sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.78sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.78sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.78sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 18.78sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 18.81sINFOros2-8process has finished cleanly [pid 9160] ×2 + 18.81sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.81sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.85sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 18.85sINFOros2Loaded vacuum_gripper ×2 + 18.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 18.88sINFOros2Configured and activated vacuum_gripper ×2 + 18.88sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1782230228.707 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 19.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 19.21sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 19.21sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 19.24sINFOros2-12process has finished cleanly [pid 9230] ×2 + 19.29sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 19.29sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 19.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.29sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.30sINFOplatform_velocity_controller_nav2configure successful + 19.43sWARNobjective_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 + 19.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.65sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.65sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.65sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.65sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 19.68sINFOros2-13process has finished cleanly [pid 9231] ×2 + 19.75sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 19.75sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 19.82sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 19.82sINFOros2Loaded arm_only_velocity_force_controller ×2 + 19.82sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.82sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.17sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.18sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 20.18sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 20.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 20.55sINFOros2-16process has finished cleanly [pid 9234] ×2 + 20.60sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 20.60sINFOros2Loaded velocity_force_controller ×2 + 20.60sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 20.99sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.99sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 20.99sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.36sINFOros2-15process has finished cleanly [pid 9233] ×2 + 21.37sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 21.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 21.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 21.47sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 21.47sINFOros2Loaded joint_trajectory_controller ×2 + 21.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.47sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.48sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.48sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.48sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.48sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 21.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.81sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 21.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.81sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 21.82sINFOros2-14process has finished cleanly [pid 9232] ×2 + 21.88sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 21.88sINFOros2Loaded joint_velocity_controller ×2 + 21.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.25sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 22.25sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.63sINFOros2-17process has finished cleanly [pid 9235] ×2 + 22.68sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.68sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 22.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.68sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 22.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 22.68sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 22.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 22.71sINFOros2Loaded platform_velocity_controller ×2 + 22.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 22.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 22.72sINFOplatform_velocity_controllerconfigure successful + 22.72sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 22.72sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 22.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 22.73sINFOros2Configured and activated platform_velocity_controller ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 22.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 22.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 23.20sINFOros2-11process has finished cleanly [pid 9229] ×2 + 23.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 23.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.51sINFOmove_groupClearing octomap...[0m ×2 + 23.51sINFOmove_groupOctomap cleared.[0m ×2 + 23.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 24.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 24.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 24.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 24.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 25.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 25.38sINFOobjective_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 + 25.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.43sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 25.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 25.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 26.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 26.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 26.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 26.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 26.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 26.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 26.19sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 257 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.01sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.01sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.35sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 9234] ×2 + 0.43sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.43sINFOros2Loaded velocity_force_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.45sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 0.82sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.82sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.82sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.19sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.20sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.20sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.20sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.20sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.30sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.30sINFOros2Loaded joint_trajectory_controller ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.30sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.30sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.30sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9232] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.08sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.46sINFOros2-17process has finished cleanly [pid 9235] ×2 + 2.51sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.51sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.51sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.51sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.51sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.54sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.54sINFOros2Loaded platform_velocity_controller ×2 + 2.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.54sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.55sINFOplatform_velocity_controllerconfigure successful + 2.55sINFOros2_control_nodeconfigure successful[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.55sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.56sINFOros2Configured and activated platform_velocity_controller ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.03sINFOros2-11process has finished cleanly [pid 9229] ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.21sINFOobjective_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 + 5.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.13sINFOjoint_trajectory_controllerReceived new action goal + 7.13sINFOjoint_trajectory_controllerAccepted new action goal + 7.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.13sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 248 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.01sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.01sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.35sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.35sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 9234] ×2 + 0.43sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.43sINFOros2Loaded velocity_force_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.45sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 0.82sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.82sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.82sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.19sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.20sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.20sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.20sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.20sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.30sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.30sINFOros2Loaded joint_trajectory_controller ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.30sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.30sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.30sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9232] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.08sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.46sINFOros2-17process has finished cleanly [pid 9235] ×2 + 2.51sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.51sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.51sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.51sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.51sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.51sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.51sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.54sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.54sINFOros2Loaded platform_velocity_controller ×2 + 2.54sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.54sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.55sINFOplatform_velocity_controllerconfigure successful + 2.55sINFOros2_control_nodeconfigure successful[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.55sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.56sINFOros2Configured and activated platform_velocity_controller ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.03sINFOros2-11process has finished cleanly [pid 9229] ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.21sINFOobjective_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 + 5.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.21sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 271 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2-13process has finished cleanly [pid 9231] ×2 + 0.28sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.35sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.35sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.70sINFOros2_control_node[2026-06-23 15:57:11.002] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.008] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-23 15:57:11.010] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.05sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.08sINFOros2-16process has finished cleanly [pid 9234] ×2 + 1.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.13sINFOros2Loaded velocity_force_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875600 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 1.52sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.89sINFOros2-15process has finished cleanly [pid 9233] ×2 + 1.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.91sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.00sINFOros2Loaded joint_trajectory_controller ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 2.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 2.35sINFOros2-14process has finished cleanly [pid 9232] ×2 + 2.41sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.41sINFOros2Loaded joint_velocity_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.16sINFOros2-17process has finished cleanly [pid 9235] ×2 + 3.21sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 3.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 3.24sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.24sINFOros2Loaded platform_velocity_controller ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.25sINFOplatform_velocity_controllerconfigure successful + 3.25sINFOros2_control_nodeconfigure successful[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.26sINFOros2Configured and activated platform_velocity_controller ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-11process has finished cleanly [pid 9229] ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.72sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887607 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887607 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 230 info |
+ 0.00sINFOros2_control_node[2026-06-23 15:57:11.822] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.825] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-23 15:57:11.826] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOros2-15process has finished cleanly [pid 9233] ×2 + 0.38sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.48sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.48sINFOros2Loaded joint_trajectory_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702825 ms (missed cycles : 2).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.82sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 0.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 0.83sINFOros2-14process has finished cleanly [pid 9232] ×2 + 0.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.89sINFOros2Loaded joint_velocity_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.082] [info] Controller state will be published at 20 Hz. ×2 + 1.26sINFOros2_control_node[2026-06-23 15:57:13.083] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.64sINFOros2-17process has finished cleanly [pid 9235] ×2 + 1.69sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj + 1.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_12st8ugf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ucymmr7v --params-file /tmp/launch_params_25kt31sj [0m ×2 + 1.72sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.72sINFOros2Loaded platform_velocity_controller ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.73sINFOplatform_velocity_controllerconfigure successful + 1.73sINFOros2_control_nodeconfigure successful[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578169 ms (missed cycles : 4).[0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.21sINFOros2-11process has finished cleanly [pid 9229] ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782230234.34244227 seconds. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782230234.35737967 seconds ×3 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801733 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782230234.90972495 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782230234.91986918 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782230235.46377730 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782230235.61437631 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120903 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782230236.19934702 seconds. ×3 + 4.39sINFOobjective_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 + 4.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782230236.26958728 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006245 ms (missed cycles : 7).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782230236.81772780 seconds. ×3 + 5.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700704 ms (missed cycles : 4).[0m ×2 + 6.06sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||