67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.0s
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 | 70.3s | 3 errors · 237 warnings · 279 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.103ms + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.119ms + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466134 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466134 ms (missed cycles : 4).[0m ×2 + 1.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.997ms + 1.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.039ms + 1.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.795ms + 1.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.192ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251502 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251502 ms (missed cycles : 4).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.856ms ×2 + 2.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.933ms ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678522 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678522 ms (missed cycles : 3).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.915ms + 3.22sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.102ms + 3.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.148ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058885 ms (missed cycles : 5). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058885 ms (missed cycles : 5).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.946ms + 3.87sINFOjoint_trajectory_controllerGot request to cancel goal + 3.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782235732.39469814 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.869ms + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.931ms + 4.43sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.43sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782235732.95157146 seconds. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.007ms + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172346 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172346 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeFound path in 0 iterations (1.02e-06 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.818ms + 5.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.923ms + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.175ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.914ms ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316465 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316465 ms (missed cycles : 4).[0m ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.805ms + 6.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.168ms ×2 + 6.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.809ms + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.457206 ms (missed cycles : 7). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.457206 ms (missed cycles : 7).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.365ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.045210 ms (missed cycles : 8). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.045210 ms (missed cycles : 8).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990117 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990117 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.155ms + 9.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.338ms + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.101ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.600535 ms (missed cycles : 5). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.600535 ms (missed cycles : 5).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.142ms + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113788 ms (missed cycles : 5). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113788 ms (missed cycles : 5).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.830ms + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.827ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289135 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289135 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.840ms + 12.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.858ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364618 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364618 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.898ms + 13.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.881ms ×2 + 14.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.984ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417948 ms (missed cycles : 3). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417948 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.797ms + 15.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.944ms + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827557 ms (missed cycles : 3). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827557 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.043ms + 15.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.941ms + 15.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081295 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081295 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.828ms + 16.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.801ms + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221381 ms (missed cycles : 5). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221381 ms (missed cycles : 5).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.106ms + 17.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.894ms + 18.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.918ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900784 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900784 ms (missed cycles : 2).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.348ms + 18.72sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.013ms + 18.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 19.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.032ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343469 ms (missed cycles : 3). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343469 ms (missed cycles : 3).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.955ms + 20.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.971ms + 20.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.095ms + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467490 ms (missed cycles : 4). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467490 ms (missed cycles : 4).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.088ms + 21.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.980ms + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947816 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947816 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.233ms + 22.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.919ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343337 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343337 ms (missed cycles : 2).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.886ms + 23.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.475ms + 23.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.514ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145475 ms (missed cycles : 5). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145475 ms (missed cycles : 5).[0m ×2 + 24.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.109ms + 24.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.497ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941752 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941752 ms (missed cycles : 3).[0m ×2 + 24.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.343ms + 24.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.182ms + 25.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.131ms + 25.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.315ms ×2 + 25.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.463ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710015 ms (missed cycles : 5). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710015 ms (missed cycles : 5).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.354ms + 26.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.085ms + 26.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164177 ms (missed cycles : 4). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164177 ms (missed cycles : 4).[0m ×2 + 26.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.985ms + 27.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.290ms + 27.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959580 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959580 ms (missed cycles : 3).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.058ms + 28.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.151ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078454 ms (missed cycles : 2). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078454 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1988 particles 91 points - 1.925ms + 29.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.932ms + 29.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.204ms + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706475 ms (missed cycles : 3). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706475 ms (missed cycles : 3).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.464ms + 30.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.614ms + 30.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.197ms + 30.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.355ms + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427632 ms (missed cycles : 4). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427632 ms (missed cycles : 4).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.849ms + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961954 ms (missed cycles : 3). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961954 ms (missed cycles : 3).[0m ×2 + 31.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.981ms + 32.24sINFOamclParticle filter update iteration stats: 1946 particles 91 points - 2.071ms + 32.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.116ms + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.596874 ms (missed cycles : 6). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.596874 ms (missed cycles : 6).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.195ms + 33.00sINFOamclParticle filter update iteration stats: 1840 particles 91 points - 2.731ms + 33.40sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.40sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.66sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049223 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049223 ms (missed cycles : 2).[0m ×2 + 34.14sINFOamclParticle filter update iteration stats: 1998 particles 91 points - 1.967ms + 34.30sINFOamclParticle filter update iteration stats: 1872 particles 91 points - 2.058ms + 34.37sWARNobjective_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 + 34.37sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676632 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676632 ms (missed cycles : 2).[0m ×2 + 35.60sINFOamclParticle filter update iteration stats: 1608 particles 91 points - 2.285ms + 35.70sINFOamclParticle filter update iteration stats: 1861 particles 91 points - 1.830ms + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855181 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855181 ms (missed cycles : 2).[0m ×2 + 36.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.207ms + 36.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688682 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688682 ms (missed cycles : 3).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 1914 particles 91 points - 1.813ms + 37.60sINFOamclParticle filter update iteration stats: 1851 particles 91 points - 1.926ms + 38.00sINFOamclParticle filter update iteration stats: 1904 particles 91 points - 1.794ms + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734144 ms (missed cycles : 3). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734144 ms (missed cycles : 3).[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.099ms + 38.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.224ms + 38.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.021ms + 38.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.247ms + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627616 ms (missed cycles : 2). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627616 ms (missed cycles : 2).[0m ×2 + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023594 ms (missed cycles : 4). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023594 ms (missed cycles : 4).[0m ×2 + 41.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200660 ms (missed cycles : 2). + 41.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200660 ms (missed cycles : 2).[0m ×2 + 41.14sINFOamclParticle filter update iteration stats: 1998 particles 91 points - 2.542ms + 41.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.153ms + 41.22sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688327 ms (missed cycles : 2). + 42.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688327 ms (missed cycles : 2).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.879ms + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806843 ms (missed cycles : 3). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806843 ms (missed cycles : 3).[0m ×2 + 43.24sINFOamclParticle filter update iteration stats: 1872 particles 91 points - 2.506ms + 43.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.654ms + 44.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343795 ms (missed cycles : 3). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343795 ms (missed cycles : 3).[0m ×2 + 45.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.075ms + 45.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.086ms + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114864 ms (missed cycles : 2). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114864 ms (missed cycles : 2).[0m ×2 + 45.30sINFOamclParticle filter update iteration stats: 1682 particles 91 points - 2.079ms + 45.41sINFOamclParticle filter update iteration stats: 1417 particles 91 points - 1.971ms + 45.51sINFOamclParticle filter update iteration stats: 1396 particles 91 points - 2.203ms + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629499 ms (missed cycles : 4). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629499 ms (missed cycles : 4).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 1481 particles 91 points - 1.515ms + 47.20sINFOamclParticle filter update iteration stats: 1470 particles 91 points - 1.766ms + 47.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420197 ms (missed cycles : 7). + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420197 ms (missed cycles : 7).[0m ×2 + 48.00sINFOamclParticle filter update iteration stats: 1619 particles 91 points - 1.630ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.060274 ms (missed cycles : 6). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.060274 ms (missed cycles : 6).[0m ×2 + 48.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.868ms + 49.04sINFOamclParticle filter update iteration stats: 1956 particles 91 points - 2.695ms + 49.14sINFOamclParticle filter update iteration stats: 1914 particles 91 points - 2.111ms + 49.17sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 49.30sINFOamclParticle filter update iteration stats: 1597 particles 91 points - 2.126ms + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812716 ms (missed cycles : 3). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812716 ms (missed cycles : 3).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1449 particles 91 points - 2.012ms + 50.30sINFOamclParticle filter update iteration stats: 1417 particles 91 points - 1.631ms + 50.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433140 ms (missed cycles : 4). + 50.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433140 ms (missed cycles : 4).[0m ×2 + 51.44sINFOamclParticle filter update iteration stats: 1555 particles 91 points - 1.584ms + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064557 ms (missed cycles : 7). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.064557 ms (missed cycles : 7).[0m ×2 + 51.70sINFOamclParticle filter update iteration stats: 1629 particles 91 points - 2.147ms + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339911 ms (missed cycles : 2). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339911 ms (missed cycles : 2).[0m ×2 + 52.90sINFOamclParticle filter update iteration stats: 1470 particles 91 points - 1.600ms + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331400 ms (missed cycles : 2). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331400 ms (missed cycles : 2).[0m ×2 + 53.64sINFOamclParticle filter update iteration stats: 1428 particles 91 points - 1.823ms + 53.80sINFOamclParticle filter update iteration stats: 1544 particles 91 points - 1.953ms + 54.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.465836 ms (missed cycles : 7). + 54.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.465836 ms (missed cycles : 7).[0m ×2 + 54.60sINFOamclParticle filter update iteration stats: 1819 particles 91 points - 1.671ms + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079982 ms (missed cycles : 5). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079982 ms (missed cycles : 5).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.888ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536242 ms (missed cycles : 4). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536242 ms (missed cycles : 4).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.363ms + 57.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777851 ms (missed cycles : 2). + 57.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777851 ms (missed cycles : 2).[0m ×2 + 57.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.569ms + 58.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.058677 ms (missed cycles : 7). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.058677 ms (missed cycles : 7).[0m ×2 + 59.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958654 ms (missed cycles : 2). + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958654 ms (missed cycles : 2).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.912ms + 59.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 60.00sINFOamclParticle filter update iteration stats: 1576 particles 91 points - 2.004ms + 60.30sINFOamclParticle filter update iteration stats: 1449 particles 91 points - 1.920ms + 60.50sINFOamclParticle filter update iteration stats: 1491 particles 91 points - 1.557ms + 60.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551198 ms (missed cycles : 2). + 60.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551198 ms (missed cycles : 2).[0m ×2 + 61.06sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 61.61sINFOamclParticle filter update iteration stats: 1470 particles 91 points - 1.688ms + 61.70sINFOamclParticle filter update iteration stats: 1449 particles 91 points - 1.809ms + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410597 ms (missed cycles : 5). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410597 ms (missed cycles : 5).[0m ×2 + 61.84sINFOamclParticle filter update iteration stats: 1428 particles 91 points - 1.521ms + 61.94sINFOamclParticle filter update iteration stats: 1587 particles 91 points - 1.524ms + 62.40sINFOamclParticle filter update iteration stats: 1470 particles 91 points - 1.656ms + 62.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874196 ms (missed cycles : 3). + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874196 ms (missed cycles : 3).[0m ×2 + 63.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039053 ms (missed cycles : 5). + 63.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039053 ms (missed cycles : 5).[0m ×2 + 64.24sINFOamclParticle filter update iteration stats: 1172 particles 91 points - 1.354ms + 64.40sINFOamclParticle filter update iteration stats: 1033 particles 91 points - 1.246ms + 64.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.021402 ms (missed cycles : 6). + 64.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.021402 ms (missed cycles : 6).[0m ×2 + 65.50sINFOamclParticle filter update iteration stats: 893 particles 91 points - 0.959ms + 66.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.866842 ms (missed cycles : 6). + 66.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.866842 ms (missed cycles : 6).[0m ×2 + 66.34sINFOamclParticle filter update iteration stats: 936 particles 91 points - 0.906ms + 66.44sINFOamclParticle filter update iteration stats: 947 particles 91 points - 0.951ms + 66.54sINFOamclParticle filter update iteration stats: 839 particles 91 points - 1.191ms + 66.60sINFOamclParticle filter update iteration stats: 882 particles 91 points - 1.017ms + 67.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938814 ms (missed cycles : 2). + 67.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938814 ms (missed cycles : 2).[0m ×2 + 67.50sINFOamclParticle filter update iteration stats: 957 particles 91 points - 1.022ms + 67.93sINFOamclParticle filter update iteration stats: 882 particles 91 points - 0.934ms + 68.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548761 ms (missed cycles : 3). + 68.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548761 ms (missed cycles : 3).[0m ×2 + 68.30sINFOamclParticle filter update iteration stats: 849 particles 91 points - 1.065ms + 69.00sINFOamclParticle filter update iteration stats: 817 particles 91 points - 0.922ms + 69.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168031 ms (missed cycles : 3). + 69.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168031 ms (missed cycles : 3).[0m ×2 + 70.20sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 70.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 70.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 71.20sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 71.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 71.80sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 72.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 72.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 72.60sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 73.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 73.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 74.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 74.30sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 74.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 74.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 74.60sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 74.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 74.90sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 75.16sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 75.20sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 75.35sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 75.40sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 75.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 75.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 75.71sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 75.80sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 76.10sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 76.40sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 76.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 76.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.6s | 195 warnings · 279 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782235572.59496784 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3).[0m ×2 + 0.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 0.59sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×3 + 0.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.59sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 0.59sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782235573.14966393 seconds. ×3 + 0.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.965ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7).[0m ×2 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.938e-05 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.54sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.54sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.54sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.54sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427718 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427718 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782235576.24989176 seconds ×3 + 3.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.382ms + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.104ms + 4.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782235576.80304384 seconds. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463314 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463314 ms (missed cycles : 3).[0m ×2 + 4.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.360ms + 4.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.453ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.937474 ms (missed cycles : 8). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.937474 ms (missed cycles : 8).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.074ms + 5.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.233ms + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.302ms + 6.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693763 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693763 ms (missed cycles : 2).[0m ×2 + 6.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.582ms + 6.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.348ms + 6.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.190ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514786 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514786 ms (missed cycles : 4).[0m ×2 + 7.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.349ms + 7.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.296ms + 7.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.089ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.939644 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.939644 ms (missed cycles : 6).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.573ms + 8.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.253ms + 8.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.172ms + 8.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.370ms + 9.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.129ms + 9.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.840ms + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520103 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520103 ms (missed cycles : 4).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.615ms + 9.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 8.737ms + 9.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.923ms + 10.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.255ms + 10.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.184ms + 10.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.786ms + 10.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.289ms + 10.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.465ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059663 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059663 ms (missed cycles : 2).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.890ms ×2 + 10.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.414ms + 11.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.373ms + 11.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.408ms + 11.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.346ms + 11.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.714ms + 11.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.484ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.967614 ms (missed cycles : 5). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.967614 ms (missed cycles : 5).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.368ms + 11.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.935ms + 12.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.375ms + 12.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.362ms + 12.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.451ms + 12.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.196ms + 12.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.904ms + 12.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.645ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190973 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190973 ms (missed cycles : 2).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.719ms + 13.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.569ms + 13.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.552ms + 13.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.626ms + 13.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.513ms + 13.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.499ms + 13.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.947ms + 13.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.111ms + 13.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.173ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198423 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198423 ms (missed cycles : 3).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.199ms + 13.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.734ms + 14.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms ×2 + 14.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.959ms + 14.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.478ms + 14.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 8.053ms + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878919 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878919 ms (missed cycles : 2).[0m ×2 + 14.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.623ms + 14.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.409ms + 15.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.407ms + 15.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.430ms + 15.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.958ms + 15.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.114ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755187 ms (missed cycles : 2). + 15.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 7.102ms + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755187 ms (missed cycles : 2).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.402ms + 16.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.449ms + 16.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.506ms + 16.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.974ms + 16.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.408ms + 16.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.815ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389709 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389709 ms (missed cycles : 3).[0m ×2 + 17.16sINFOros2_control_nodeMuJoCo sim: 0.67% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.380ms + 17.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.804ms + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708141 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708141 ms (missed cycles : 2).[0m ×2 + 17.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.979ms + 18.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.083ms + 18.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.528ms + 18.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.387ms ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797676 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797676 ms (missed cycles : 3).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.852ms + 19.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.377ms + 19.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.798ms + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.635963 ms (missed cycles : 6). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.635963 ms (missed cycles : 6).[0m ×2 + 20.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.620ms + 20.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.306ms + 20.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.369ms + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672086 ms (missed cycles : 3). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672086 ms (missed cycles : 3).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.773ms + 21.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.316ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960690 ms (missed cycles : 5). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960690 ms (missed cycles : 5).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.447ms + 22.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.696ms ×2 + 23.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.991ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337974 ms (missed cycles : 4). + 23.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.016ms + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337974 ms (missed cycles : 4).[0m ×2 + 23.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.267ms + 23.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.621ms + 24.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.502ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923563 ms (missed cycles : 3). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923563 ms (missed cycles : 3).[0m ×2 + 24.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.401ms + 24.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.252ms + 25.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.666ms + 25.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.507ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823016 ms (missed cycles : 5). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823016 ms (missed cycles : 5).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.670ms + 26.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.492ms + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802630 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802630 ms (missed cycles : 3).[0m ×2 + 26.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.435ms + 27.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.522ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818443 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818443 ms (missed cycles : 2).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.542ms + 28.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.239ms + 28.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.061ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406762 ms (missed cycles : 2). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406762 ms (missed cycles : 2).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.751ms + 29.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.731ms ×2 + 29.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.195ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.327020 ms (missed cycles : 7). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.327020 ms (missed cycles : 7).[0m ×2 + 29.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.412ms + 30.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.433ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057942 ms (missed cycles : 5). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057942 ms (missed cycles : 5).[0m ×2 + 30.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.579ms + 31.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.357ms + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700696 ms (missed cycles : 6). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700696 ms (missed cycles : 6).[0m ×2 + 31.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.505ms ×2 + 32.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.629ms + 32.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.205ms + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505521 ms (missed cycles : 5). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505521 ms (missed cycles : 5).[0m ×2 + 33.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.218ms + 33.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.666ms + 33.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.321ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047564 ms (missed cycles : 3). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047564 ms (missed cycles : 3).[0m ×2 + 34.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879313 ms (missed cycles : 3). + 34.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879313 ms (missed cycles : 3).[0m ×2 + 34.85sWARNobjective_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 + 34.85sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361833 ms (missed cycles : 5). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.361833 ms (missed cycles : 5).[0m ×2 + 35.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.644ms + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063860 ms (missed cycles : 2). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.063860 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691506 ms (missed cycles : 2). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691506 ms (missed cycles : 2).[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.098ms + 38.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.048ms + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528187 ms (missed cycles : 2). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528187 ms (missed cycles : 2).[0m ×2 + 39.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.712ms + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622758 ms (missed cycles : 6). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622758 ms (missed cycles : 6).[0m ×2 + 40.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.576ms + 40.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.727ms + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301382 ms (missed cycles : 4). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301382 ms (missed cycles : 4).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.073264 ms (missed cycles : 8). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.073264 ms (missed cycles : 8).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.537ms + 42.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.690ms ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840054 ms (missed cycles : 3). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840054 ms (missed cycles : 3).[0m ×2 + 43.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.671ms + 43.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.631ms + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269780 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269780 ms (missed cycles : 2).[0m ×2 + 44.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.136ms + 44.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.777ms + 45.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.880ms + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721252 ms (missed cycles : 5). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721252 ms (missed cycles : 5).[0m ×2 + 45.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.307ms + 45.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.591ms + 45.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.277ms + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.021735 ms (missed cycles : 7). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.021735 ms (missed cycles : 7).[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889534 ms (missed cycles : 2). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889534 ms (missed cycles : 2).[0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254067 ms (missed cycles : 4). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254067 ms (missed cycles : 4).[0m ×2 + 48.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.863ms + 48.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.584ms + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997948 ms (missed cycles : 5). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997948 ms (missed cycles : 5).[0m ×2 + 49.36sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.639ms + 49.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 8.211ms + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968442 ms (missed cycles : 3). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968442 ms (missed cycles : 3).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.717ms + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947348 ms (missed cycles : 3). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947348 ms (missed cycles : 3).[0m ×2 + 51.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.149ms + 52.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.518ms + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679487 ms (missed cycles : 4). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679487 ms (missed cycles : 4).[0m ×2 + 53.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078064 ms (missed cycles : 3). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078064 ms (missed cycles : 3).[0m ×2 + 53.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.911ms + 53.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.278ms + 54.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819762 ms (missed cycles : 2). + 54.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819762 ms (missed cycles : 2).[0m ×2 + 55.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.780ms + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060832 ms (missed cycles : 2). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060832 ms (missed cycles : 2).[0m ×2 + 55.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.359ms + 56.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.174ms + 56.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.454ms + 56.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 56.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 57.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 57.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 57.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 58.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 58.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 58.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 58.86sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 59.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 59.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 59.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 59.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 60.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 60.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 60.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 60.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 60.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 60.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 61.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 61.23sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 61.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 61.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 62.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 62.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 62.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 189 warnings · 190 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.43sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.10sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.687ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962728 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962728 ms (missed cycles : 5).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.657ms + 7.55sINFOamclParticle filter update iteration stats: 763 particles 91 points - 0.767ms + 7.60sINFOamclParticle filter update iteration stats: 871 particles 91 points - 0.956ms + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175524 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175524 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951929 ms (missed cycles : 5). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951929 ms (missed cycles : 5).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.831ms + 10.00sINFOamclParticle filter update iteration stats: 806 particles 91 points - 0.794ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090555 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090555 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 752 particles 91 points - 0.841ms + 11.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.740ms + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181093 ms (missed cycles : 5). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181093 ms (missed cycles : 5).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.756ms + 12.01sINFOamclParticle filter update iteration stats: 686 particles 91 points - 0.749ms + 12.50sINFOamclParticle filter update iteration stats: 752 particles 91 points - 0.726ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251114 ms (missed cycles : 5). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251114 ms (missed cycles : 5).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.926ms + 13.50sINFOamclParticle filter update iteration stats: 730 particles 91 points - 0.662ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283136 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283136 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 773 particles 91 points - 0.736ms + 14.50sINFOamclParticle filter update iteration stats: 686 particles 91 points - 0.680ms + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860116 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860116 ms (missed cycles : 3).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.698ms + 15.50sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.644ms + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247447 ms (missed cycles : 4). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247447 ms (missed cycles : 4).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.608ms + 16.50sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.608ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394610 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394610 ms (missed cycles : 4).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.592ms + 17.50sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.560ms + 17.64sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.602ms + 17.70sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.739ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972856 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972856 ms (missed cycles : 3).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.769ms + 18.70sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.640ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497710 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497710 ms (missed cycles : 2).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.609ms + 19.42sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.782ms + 19.50sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.823ms + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.460207 ms (missed cycles : 7). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.460207 ms (missed cycles : 7).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.667ms + 20.50sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.599ms + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029112 ms (missed cycles : 2). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029112 ms (missed cycles : 2).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 675 particles 91 points - 0.657ms + 21.50sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.768ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129484 ms (missed cycles : 5). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129484 ms (missed cycles : 5).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.551ms + 22.54sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.666ms + 22.60sINFOamclParticle filter update iteration stats: 686 particles 91 points - 0.787ms + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255693 ms (missed cycles : 4). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255693 ms (missed cycles : 4).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.872ms + 23.60sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.583ms + 23.94sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.900ms + 24.04sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.695ms + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268461 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268461 ms (missed cycles : 2).[0m ×2 + 24.14sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.646ms + 24.20sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.693ms + 24.70sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.590ms + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.380962 ms (missed cycles : 10). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.380962 ms (missed cycles : 10).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.592ms + 25.70sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.515ms + 26.14sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.585ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758178 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758178 ms (missed cycles : 2).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.639ms + 26.70sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.550ms + 27.20sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.509ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860003 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860003 ms (missed cycles : 3).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.575ms + 28.20sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.610ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029487 ms (missed cycles : 4). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029487 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.611ms + 29.20sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.744ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850961 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850961 ms (missed cycles : 2).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.525ms + 29.84sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.646ms + 30.00sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.642ms + 30.22sINFOamclParticle filter update iteration stats: 632 particles 91 points - 0.794ms + 30.30sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.708ms + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533206 ms (missed cycles : 2). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533206 ms (missed cycles : 2).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.593ms + 31.03sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.596ms + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460511 ms (missed cycles : 4). + 31.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460511 ms (missed cycles : 4).[0m ×2 + 31.94sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.757ms + 32.10sINFOamclParticle filter update iteration stats: 577 particles 91 points - 0.702ms + 32.22sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.688ms + 32.30sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.647ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577522 ms (missed cycles : 3). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577522 ms (missed cycles : 3).[0m ×2 + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705382 ms (missed cycles : 3). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705382 ms (missed cycles : 3).[0m ×2 + 33.70sWARNobjective_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 + 33.70sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782681 ms (missed cycles : 2). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782681 ms (missed cycles : 2).[0m ×2 + 34.44sINFOamclParticle filter update iteration stats: 643 particles 91 points - 0.682ms + 34.50sINFOamclParticle filter update iteration stats: 566 particles 91 points - 0.694ms + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182230 ms (missed cycles : 2). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182230 ms (missed cycles : 2).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190487 ms (missed cycles : 2). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190487 ms (missed cycles : 2).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205454 ms (missed cycles : 5). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205454 ms (missed cycles : 5).[0m ×2 + 38.14sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.657ms + 38.40sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.641ms + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922623 ms (missed cycles : 3). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922623 ms (missed cycles : 3).[0m ×2 + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163537 ms (missed cycles : 3). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163537 ms (missed cycles : 3).[0m ×2 + 40.54sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.565ms + 40.60sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.634ms + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828442 ms (missed cycles : 2). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828442 ms (missed cycles : 2).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979804 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979804 ms (missed cycles : 2).[0m ×2 + 42.74sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.530ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010616 ms (missed cycles : 4). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010616 ms (missed cycles : 4).[0m ×2 + 42.90sINFOamclParticle filter update iteration stats: 555 particles 91 points - 0.648ms + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621788 ms (missed cycles : 2). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621788 ms (missed cycles : 2).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375704 ms (missed cycles : 2). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375704 ms (missed cycles : 2).[0m ×2 + 45.14sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.725ms + 45.24sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.652ms + 45.40sINFOamclParticle filter update iteration stats: 544 particles 91 points - 0.900ms + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132045 ms (missed cycles : 2). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132045 ms (missed cycles : 2).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700454 ms (missed cycles : 3). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700454 ms (missed cycles : 3).[0m ×2 + 47.30sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.614ms + 47.44sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.558ms + 47.60sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.615ms + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902765 ms (missed cycles : 3). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902765 ms (missed cycles : 3).[0m ×2 + 49.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 32.944302 ms (missed cycles : 20). + 49.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 32.944302 ms (missed cycles : 20).[0m ×2 + 49.74sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.554ms + 49.90sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.684ms + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185494 ms (missed cycles : 3). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185494 ms (missed cycles : 3).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168269 ms (missed cycles : 3). + 51.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168269 ms (missed cycles : 3).[0m ×2 + 51.54sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.521ms + 51.80sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.559ms + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768808 ms (missed cycles : 3). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768808 ms (missed cycles : 3).[0m ×2 + 53.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514442 ms (missed cycles : 3). + 53.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514442 ms (missed cycles : 3).[0m ×2 + 54.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443293 ms (missed cycles : 4). + 54.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443293 ms (missed cycles : 4).[0m ×2 + 54.24sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.651ms + 54.30sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.633ms + 55.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771246 ms (missed cycles : 3). + 55.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771246 ms (missed cycles : 3).[0m ×2 + 56.24sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.516ms + 56.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751515 ms (missed cycles : 3). + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751515 ms (missed cycles : 3).[0m ×2 + 56.44sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.468ms + 56.54sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.473ms + 56.60sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.592ms + 57.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606797 ms (missed cycles : 2). + 57.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606797 ms (missed cycles : 2).[0m ×2 + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764581 ms (missed cycles : 6). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764581 ms (missed cycles : 6).[0m ×2 + 58.40sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.528ms + 58.64sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.535ms + 58.74sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.487ms + 58.90sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.601ms + 59.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782235858.01711965 seconds ×3 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124185 ms (missed cycles : 2). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124185 ms (missed cycles : 2).[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.499ms + 59.70sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.507ms + 59.88sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782235858.58233738 seconds. ×3 + 59.91sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.615ms + 60.01sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.655ms + 60.22sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 60.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490855 ms (missed cycles : 4). + 60.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490855 ms (missed cycles : 4).[0m ×2 + 61.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551176 ms (missed cycles : 4). + 61.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551176 ms (missed cycles : 4).[0m ×2 + 61.90sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.482ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.2s | 180 warnings · 230 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.215ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.426ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.523ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.335ms + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.285ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.018ms ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782235669.41538453 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.949ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.926ms + 4.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.47sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782235669.98843575 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.229ms ×2 + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 5.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.283ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.999ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.375ms + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.16sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.024ms + 6.81sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.058ms + 7.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.069ms ×2 + 7.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.132ms + 7.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.257ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684119 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684119 ms (missed cycles : 3).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.372ms + 8.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.236ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252813 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252813 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.251ms + 9.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.011ms ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756260 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756260 ms (missed cycles : 2).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.061ms + 9.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.151ms + 10.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.194ms ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.676106 ms (missed cycles : 6). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.676106 ms (missed cycles : 6).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.899ms + 11.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.887ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528272 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528272 ms (missed cycles : 3).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.768ms + 12.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.396ms + 12.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.116ms ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392370 ms (missed cycles : 4). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392370 ms (missed cycles : 4).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.138ms + 13.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.912ms + 13.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.124ms ×2 + 13.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.607ms + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160295 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160295 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.908ms + 14.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.413ms + 14.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.480ms + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782017 ms (missed cycles : 2). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782017 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.456ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509618 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509618 ms (missed cycles : 2).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.969ms + 16.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.939ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226901 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226901 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.211ms ×2 + 17.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.477ms + 17.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.170ms ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710024 ms (missed cycles : 3). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710024 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.122ms + 18.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.305ms ×2 + 18.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.985ms + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878749 ms (missed cycles : 3). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878749 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.304ms ×2 + 19.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.919ms + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103291 ms (missed cycles : 2). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103291 ms (missed cycles : 2).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.344ms + 20.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.256ms + 20.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.242ms ×3 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590254 ms (missed cycles : 4). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.590254 ms (missed cycles : 4).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.060ms + 21.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.005ms ×3 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109041 ms (missed cycles : 3). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109041 ms (missed cycles : 3).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.651ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099157 ms (missed cycles : 3). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099157 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.419ms + 24.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.076ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547483 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547483 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.074ms + 24.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.158ms + 24.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.156ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706346 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706346 ms (missed cycles : 2).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.096ms ×2 + 25.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.056ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382473 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382473 ms (missed cycles : 3).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.454ms + 26.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.520ms + 26.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.247ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167633 ms (missed cycles : 2). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167633 ms (missed cycles : 2).[0m ×2 + 27.32sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.227ms + 27.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.709ms + 27.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.073ms + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068529 ms (missed cycles : 3). + 28.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068529 ms (missed cycles : 3).[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.133ms + 28.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.265ms + 29.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.038ms + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203959 ms (missed cycles : 5). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203959 ms (missed cycles : 5).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.511ms + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804704 ms (missed cycles : 2). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804704 ms (missed cycles : 2).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.552ms + 30.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.306ms + 31.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.356ms + 31.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.144ms + 31.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.213ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034685 ms (missed cycles : 4). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034685 ms (missed cycles : 4).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.043ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812510 ms (missed cycles : 3). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812510 ms (missed cycles : 3).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.575ms + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.696169 ms (missed cycles : 7). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.696169 ms (missed cycles : 7).[0m ×2 + 33.65sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.31sWARNobjective_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 + 34.31sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640878 ms (missed cycles : 6). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.640878 ms (missed cycles : 6).[0m ×2 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996068 ms (missed cycles : 3). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996068 ms (missed cycles : 3).[0m ×2 + 35.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.560ms + 35.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.473ms + 36.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.048ms + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693381 ms (missed cycles : 2). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693381 ms (missed cycles : 2).[0m ×2 + 36.62sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.250ms + 36.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.354ms + 37.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.463ms + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192388 ms (missed cycles : 3). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192388 ms (missed cycles : 3).[0m ×2 + 37.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.594ms + 37.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.365ms + 38.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.734ms + 38.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.705ms + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444405 ms (missed cycles : 3). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444405 ms (missed cycles : 3).[0m ×2 + 39.01sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.944ms + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967308 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967308 ms (missed cycles : 2).[0m ×2 + 39.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.187ms ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597718 ms (missed cycles : 3). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597718 ms (missed cycles : 3).[0m ×2 + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275511 ms (missed cycles : 2). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275511 ms (missed cycles : 2).[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.200ms ×2 + 42.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.233ms + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.090579 ms (missed cycles : 6). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.090579 ms (missed cycles : 6).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.572ms + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838495 ms (missed cycles : 2). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838495 ms (missed cycles : 2).[0m ×2 + 43.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.029ms + 44.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.732ms + 44.21sINFOros2_control_nodeMuJoCo sim: 0.96% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.160ms + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.984728 ms (missed cycles : 6). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.984728 ms (missed cycles : 6).[0m ×2 + 44.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.053ms + 44.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.727ms + 45.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.492ms + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020101 ms (missed cycles : 2). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020101 ms (missed cycles : 2).[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388933 ms (missed cycles : 4). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388933 ms (missed cycles : 4).[0m ×2 + 47.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.176ms + 47.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.112ms + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306460 ms (missed cycles : 2). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306460 ms (missed cycles : 2).[0m ×2 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184417 ms (missed cycles : 3). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184417 ms (missed cycles : 3).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.411ms + 49.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.057ms + 50.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.161ms + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127233 ms (missed cycles : 2). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127233 ms (missed cycles : 2).[0m ×2 + 51.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.434ms + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864929 ms (missed cycles : 2). + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864929 ms (missed cycles : 2).[0m ×2 + 51.84sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.921ms + 51.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.172ms ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780582 ms (missed cycles : 3). + 52.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780582 ms (missed cycles : 3).[0m ×2 + 52.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.131ms + 52.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.150ms + 52.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.353ms + 53.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606865 ms (missed cycles : 4). + 53.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606865 ms (missed cycles : 4).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.185ms + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666820 ms (missed cycles : 2). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666820 ms (missed cycles : 2).[0m ×2 + 54.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.613ms + 54.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.279ms + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161289 ms (missed cycles : 2). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161289 ms (missed cycles : 2).[0m ×2 + 56.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782235721.66858554 seconds ×3 + 56.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.679ms + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266509 ms (missed cycles : 2). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266509 ms (missed cycles : 2).[0m ×2 + 56.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.460ms + 56.72sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782235722.22668314 seconds. ×3 + 56.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.934ms + 57.07sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 57.20sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.180ms + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220578 ms (missed cycles : 2). + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220578 ms (missed cycles : 2).[0m ×2 + 57.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 57.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.921ms + 58.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.237ms + 58.29sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675612 ms (missed cycles : 3). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675612 ms (missed cycles : 3).[0m ×2 + 58.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.040ms + 58.64sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.281ms + 58.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.399ms + 58.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.655ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 165 warnings · 251 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.03sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.08sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.08sINFOros2Loaded velocity_force_controller ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 0.47sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.47sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 0.47sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9246] ×2 + 0.90sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.25sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.25sINFOros2Loaded joint_trajectory_controller ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.25sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.25sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.25sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.26sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.26sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.26sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.26sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.60sINFOros2-14process has finished cleanly [pid 9245] ×2 + 1.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 1.98sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×12 + 1.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.99sINFOmove_groupClearing octomap...[0m ×2 + 1.99sINFOmove_groupOctomap cleared.[0m ×2 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.52sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 5.56sWARNobjective_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 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.84sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.84sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.84sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284302 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284302 ms (missed cycles : 7).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.742782 ms (missed cycles : 6). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.742782 ms (missed cycles : 6).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 1935 particles 91 points - 2.540ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602460 ms (missed cycles : 6). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602460 ms (missed cycles : 6).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841627 ms (missed cycles : 5). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841627 ms (missed cycles : 5).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233034 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233034 ms (missed cycles : 2).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125184 ms (missed cycles : 5). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125184 ms (missed cycles : 5).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709913 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709913 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669515 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669515 ms (missed cycles : 3).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716426 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716426 ms (missed cycles : 3).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190387 ms (missed cycles : 4). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190387 ms (missed cycles : 4).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012233 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012233 ms (missed cycles : 2).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106766 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106766 ms (missed cycles : 3).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962269 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962269 ms (missed cycles : 2).[0m ×2 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166638 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166638 ms (missed cycles : 3).[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901912 ms (missed cycles : 4). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901912 ms (missed cycles : 4).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931265 ms (missed cycles : 2). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931265 ms (missed cycles : 2).[0m ×2 + 23.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397927 ms (missed cycles : 5). + 23.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397927 ms (missed cycles : 5).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462394 ms (missed cycles : 4). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462394 ms (missed cycles : 4).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978083 ms (missed cycles : 5). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978083 ms (missed cycles : 5).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681012 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681012 ms (missed cycles : 3).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333092 ms (missed cycles : 4). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333092 ms (missed cycles : 4).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479138 ms (missed cycles : 5). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479138 ms (missed cycles : 5).[0m ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721139 ms (missed cycles : 3). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721139 ms (missed cycles : 3).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138430 ms (missed cycles : 2). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138430 ms (missed cycles : 2).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852999 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852999 ms (missed cycles : 2).[0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170975 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170975 ms (missed cycles : 2).[0m ×2 + 33.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.959ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664912 ms (missed cycles : 3). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664912 ms (missed cycles : 3).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441401 ms (missed cycles : 4). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441401 ms (missed cycles : 4).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035984 ms (missed cycles : 4). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035984 ms (missed cycles : 4).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721123 ms (missed cycles : 2). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721123 ms (missed cycles : 2).[0m ×2 + 38.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905424 ms (missed cycles : 3). + 38.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905424 ms (missed cycles : 3).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337217 ms (missed cycles : 3). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337217 ms (missed cycles : 3).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451706 ms (missed cycles : 4). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451706 ms (missed cycles : 4).[0m ×2 + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506416 ms (missed cycles : 3). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506416 ms (missed cycles : 3).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454766 ms (missed cycles : 3). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454766 ms (missed cycles : 3).[0m ×2 + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4).[0m ×2 + 47.37sINFOjoint_trajectory_controllerGoal reached, success! + 47.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782235572.59496784 seconds ×3 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3).[0m ×2 + 47.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 47.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782235573.14966393 seconds. ×3 + 48.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.965ms + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7).[0m ×2 + 48.88sINFOobjective_server_nodeFound path in 0 iterations (2.938e-05 s). ×2 + 48.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 117 warnings · 363 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 0.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.672ms + 1.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.367ms + 1.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.391ms + 2.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.926ms ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400028 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400028 ms (missed cycles : 4).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.438ms + 2.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.433ms + 2.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.216ms + 2.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.736ms + 2.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.571ms ×3 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.071ms + 3.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782235637.54031754 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007275 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007275 ms (missed cycles : 4).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.503ms + 3.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.540ms ×2 + 3.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.574ms + 3.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.493ms + 3.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.553ms + 3.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.258ms ×2 + 4.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.430ms + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977763 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977763 ms (missed cycles : 3).[0m ×2 + 4.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.482ms + 4.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.512ms ×2 + 4.64sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.64sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.65sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782235639.09522510 seconds. ×3 + 4.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.609ms + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.111ms + 4.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.617ms + 4.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.492ms + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.466ms + 5.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.533ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957699 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957699 ms (missed cycles : 2).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.129ms ×2 + 5.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.751ms + 5.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.823ms + 5.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.675ms + 5.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.560ms ×2 + 5.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.495ms + 5.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.931ms + 6.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.786ms + 6.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.487ms ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650608 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650608 ms (missed cycles : 3).[0m ×2 + 6.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.305ms + 6.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.317ms + 6.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.738ms + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.802ms + 6.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.767ms + 6.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.314ms + 6.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.744ms + 7.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.578ms + 7.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.047ms + 7.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.643ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.741705 ms (missed cycles : 6). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.741705 ms (missed cycles : 6).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.649ms + 7.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.580ms + 7.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.299ms + 7.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.825ms + 7.78sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.368ms + 7.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.678ms + 8.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.604ms + 8.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.636ms ×2 + 8.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.978ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625270 ms (missed cycles : 6). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625270 ms (missed cycles : 6).[0m ×2 + 8.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.613ms + 8.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.775ms + 8.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.633ms + 8.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.351ms + 8.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.564ms + 8.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.835ms + 8.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.648ms ×2 + 9.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.009ms + 9.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.132ms ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248208 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248208 ms (missed cycles : 2).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.651ms + 9.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.246ms + 9.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.588ms ×2 + 9.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.608ms ×2 + 9.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.731ms + 9.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.641ms ×2 + 10.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.536ms ×2 + 10.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.222ms + 10.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.768ms + 10.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.511ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736493 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736493 ms (missed cycles : 2).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.506ms + 10.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.622ms + 10.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.038ms + 10.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.773ms + 10.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.146ms + 10.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.472ms + 11.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.453ms + 11.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.179ms ×2 + 11.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.908ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174602 ms (missed cycles : 6). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.174602 ms (missed cycles : 6).[0m ×2 + 11.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.570ms ×2 + 11.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.848ms + 11.82sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.017ms + 11.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.629ms + 11.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.696ms + 12.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.519ms ×2 + 12.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.095ms + 12.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.961ms + 12.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.561ms + 12.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.568ms + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316911 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316911 ms (missed cycles : 3).[0m ×2 + 12.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.717ms + 12.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.606ms + 12.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.147ms + 12.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.257ms + 12.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.487ms + 13.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.600ms + 13.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.727ms + 13.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.607ms + 13.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.318ms + 13.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.647ms + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594861 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594861 ms (missed cycles : 3).[0m ×2 + 13.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.624ms + 13.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.242ms + 14.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.439ms + 14.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.535ms + 14.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 6.677ms + 14.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.602ms + 14.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.999ms + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638232 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638232 ms (missed cycles : 2).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.224ms + 14.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.603ms + 14.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.583ms + 15.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.724ms + 15.27sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.770ms + 15.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.532ms ×2 + 15.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.284ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694896 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694896 ms (missed cycles : 2).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.497ms + 15.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.632ms + 16.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.766ms + 16.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.546ms + 16.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.521ms + 16.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.902ms + 16.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.123ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412471 ms (missed cycles : 6). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412471 ms (missed cycles : 6).[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.529ms ×2 + 16.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.441ms + 16.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.478ms + 17.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.403ms + 17.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.151ms + 17.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.234ms + 17.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.014ms + 17.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.451ms + 17.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.874ms + 17.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.932ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484005 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484005 ms (missed cycles : 3).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.468ms + 17.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.090ms + 17.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.450ms ×2 + 18.11sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.891ms + 18.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.384ms + 18.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.563ms + 18.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.550ms + 18.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.637ms + 18.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.589ms + 18.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.634ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982553 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982553 ms (missed cycles : 2).[0m ×2 + 18.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.793ms + 18.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.390ms + 19.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 19.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.302ms + 19.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.725ms + 19.38sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.750ms + 19.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.402ms + 19.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.452ms ×2 + 19.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.337ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368376 ms (missed cycles : 3). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368376 ms (missed cycles : 3).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.911ms + 19.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.416ms + 19.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.387ms + 20.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.480ms + 20.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.327ms + 20.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.626ms + 20.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.404ms + 20.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.116ms + 20.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.813ms + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029909 ms (missed cycles : 5). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029909 ms (missed cycles : 5).[0m ×2 + 20.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.992ms + 20.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.406ms + 20.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.814ms + 21.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.962ms + 21.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.031ms + 21.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.060ms + 21.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.317ms + 21.58sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.063ms + 21.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.289ms ×2 + 21.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.334ms + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319065 ms (missed cycles : 2). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319065 ms (missed cycles : 2).[0m ×2 + 21.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.504ms + 22.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.363ms + 22.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.275ms + 22.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.108ms + 22.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.013ms + 22.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.212ms + 22.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.507ms + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004576 ms (missed cycles : 3). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004576 ms (missed cycles : 3).[0m ×2 + 22.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.994ms + 22.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.967ms + 23.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.055ms + 23.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.218ms + 23.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.920ms + 23.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.886ms + 23.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.053ms + 23.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.827ms ×2 + 23.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.941ms + 23.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.796ms + 23.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.291ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956528 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956528 ms (missed cycles : 2).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.499ms + 24.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.059ms + 24.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.729ms + 24.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.689ms ×2 + 24.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.696ms + 24.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.701ms + 24.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.677ms + 24.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.751ms + 24.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.231ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628082 ms (missed cycles : 7). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628082 ms (missed cycles : 7).[0m ×2 + 24.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.288ms + 25.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.834ms + 25.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.018ms ×2 + 25.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.809ms + 25.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.179ms + 25.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.027ms + 25.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.698ms + 25.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.679ms + 25.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.113ms + 25.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.753ms + 26.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.087ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.728232 ms (missed cycles : 6). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.728232 ms (missed cycles : 6).[0m ×2 + 26.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.907ms + 26.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.022ms + 26.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.559ms + 26.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.985ms + 26.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.943ms + 26.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.572ms + 26.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.899ms + 26.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.854ms + 27.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.410ms + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263751 ms (missed cycles : 3). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263751 ms (missed cycles : 3).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.861ms + 27.31sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.718ms + 27.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.353ms + 27.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.446ms + 27.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.393ms + 27.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.025ms + 27.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.759ms + 27.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.597ms + 27.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.414ms + 28.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.378ms + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516995 ms (missed cycles : 4). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516995 ms (missed cycles : 4).[0m ×2 + 28.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.606ms + 28.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.852ms + 28.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.274ms + 28.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.331ms + 28.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.357ms + 28.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.766ms + 28.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.279ms + 29.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.382ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907555 ms (missed cycles : 3). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907555 ms (missed cycles : 3).[0m ×2 + 29.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.304ms + 29.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.397ms + 29.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.285ms ×2 + 29.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.174ms + 29.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.682ms + 29.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.662ms + 29.77sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.268ms + 29.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.685ms + 29.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.267ms + 30.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.322ms + 30.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.803ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301804 ms (missed cycles : 3). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301804 ms (missed cycles : 3).[0m ×2 + 30.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.329ms + 30.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.427ms + 30.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.681ms + 30.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.426ms ×2 + 31.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.215ms + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3).[0m ×2 + 32.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.523ms + 32.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.335ms + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3).[0m ×2 + 33.47sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.018ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2).[0m ×2 + 34.97sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782235669.41538453 seconds ×3 + 35.07sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.949ms + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2).[0m ×2 + 35.37sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.926ms + 35.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782235669.98843575 seconds. ×3 + 35.67sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.229ms + 35.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms + 35.89sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 35.97sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 36.27sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.283ms + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6). + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6).[0m ×2 + 36.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 36.87sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.999ms + 37.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.375ms + 37.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3).[0m ×2 + 37.57sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.024ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.1s | 67 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771246 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771246 ms (missed cycles : 3).[0m ×2 + 0.95sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.516ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751515 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751515 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.468ms + 1.25sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.473ms ×2 + 1.30sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.592ms + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606797 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606797 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764581 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764581 ms (missed cycles : 6).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.528ms + 3.35sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.535ms + 3.45sINFOamclParticle filter update iteration stats: 521 particles 91 points - 0.487ms + 3.60sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.601ms + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782235858.01711965 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124185 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124185 ms (missed cycles : 2).[0m ×2 + 4.11sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.499ms + 4.40sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.507ms + 4.57sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×3 + 4.57sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 4.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782235858.58233738 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 + 4.62sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.615ms + 4.71sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.655ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490855 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490855 ms (missed cycles : 4).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551176 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551176 ms (missed cycles : 4).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.482ms + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697553 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697553 ms (missed cycles : 3).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.484ms + 7.55sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.480ms + 7.61sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.547ms + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554136 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554136 ms (missed cycles : 4).[0m ×2 + 9.21sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129170 ms (missed cycles : 5). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129170 ms (missed cycles : 5).[0m ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.42sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.517ms + 9.44sINFOobjective_server_nodeFound path in 0 iterations (8.5e-07 s). ×2 + 9.57sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.60sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.523ms + 9.61sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 10.01sINFOobjective_server_nodeFound path in 69 iterations (0.0494536 s). ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511995 ms (missed cycles : 4). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511995 ms (missed cycles : 4).[0m ×2 + 10.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.71sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 11.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.07sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196584 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196584 ms (missed cycles : 3).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012772 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012772 ms (missed cycles : 2).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.494ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479904 ms (missed cycles : 4). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479904 ms (missed cycles : 4).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.466ms + 14.01sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.434ms + 14.12sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.595ms + 14.20sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.539ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.467ms + 15.41sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.515ms + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.531ms + 16.61sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.530ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2).[0m ×2 + 17.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782235871.07732797 seconds ×3 + 17.10sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.490ms + 17.45sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.472ms + 17.50sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.532ms + 17.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782235871.66579962 seconds. ×3 + 17.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.68sINFOmove_groupClearing octomap...[0m ×2 + 17.68sINFOmove_groupOctomap cleared.[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.464ms + 18.10sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.465ms + 18.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782235872.22599339 seconds ×3 + 18.30sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.472ms + 18.42sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 18.50sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.662ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2).[0m ×2 + 18.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782235872.77936053 seconds. ×3 + 19.11sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.580ms + 19.40sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.453ms + 19.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782235873.45950246 seconds ×3 + 19.55sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.549ms + 19.61sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.692ms + 19.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260916 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 75 errors · 39 warnings · 405 info |
+ 0.00sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.595ms + 0.08sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.539ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5).[0m ×2 + 0.58sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.467ms + 1.28sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.515ms + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.531ms + 2.48sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.530ms + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782235871.07732797 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.490ms + 3.33sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.472ms ×2 + 3.38sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.532ms + 3.51sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.51sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782235871.66579962 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2).[0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.464ms + 3.98sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.465ms + 4.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782235872.22599339 seconds ×3 + 4.18sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.472ms + 4.30sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 4.38sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.662ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782235872.77936053 seconds. ×3 + 4.68sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.473ms + 4.99sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.580ms + 5.28sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.453ms + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782235873.45950246 seconds ×3 + 5.43sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.549ms + 5.48sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.692ms + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260916 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260916 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765392 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765392 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828333 ms (missed cycles : 2).[0m ×2 + 7.90sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.709ms + 8.08sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.540ms + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951576 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951576 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968653 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968653 ms (missed cycles : 2).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.513ms + 10.48sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.590ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930848 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930848 ms (missed cycles : 2).[0m ×2 + 11.63sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.65sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.66sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 11.68sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.68sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 11.71sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.76sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.78sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.80sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.82sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.84sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.86sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.86sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.88sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.90sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.92sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.96sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.96sINFOcontroller_managerShutdown request received.... + 11.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.96sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.96sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.96sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.96sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.96sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.96sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.96sINFOcontroller_managerShutting down the controller manager. + 11.96sINFOweb_video_server-30process has finished cleanly [pid 9318] ×2 + 11.98sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.98sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9317] ×2 + 11.99sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 12.01sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 12.01sERRORmove_group-19process has died [pid 9250, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_3j10vzz0 --params-file /tmp/launch_params_zy9aqq0i --params-file /tmp/launch_params_jz5fw8kw --params-file /tmp/launch_params_i616ekdv --params-file /tmp/launch_params_sm0wya6i --params-file /tmp/launch_params_1bkd3ul2 --params-file /tmp/launch_params_dxate5wp --params-file /tmp/launch_params_0ngwqdgg --params-file /tmp/launch_params_9w_cfnyh']. ×2 + 12.03sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.04sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 12.06sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.06sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.06sINFOmap_serverDeactivating + 12.06sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.06sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 12.06sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 12.06sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 12.06sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.06sINFOui_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 + 12.06sINFOui_teleop_bridgerclpy.shutdown() ×2 + 12.06sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 12.06sINFOui_teleop_bridge_shutdown(context=context) ×2 + 12.06sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 12.06sINFOui_teleop_bridgecontext.shutdown() ×2 + 12.06sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 12.06sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 12.06sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 12.06sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.07sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.07sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.07sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.07sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.07sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.07sERRORmove_groupStack trace (most recent call last) in thread 9806: ×2 + 12.07sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.07sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7332a4ea63, in __clone ×2 + 12.07sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f73329c1aa3, in ×2 + 12.07sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7332c53db3, in ×2 + 12.07sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f73332a81c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.07sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7332fc64d0, in rclcpp::Rate::sleep() ×2 + 12.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7332f19a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7332edea71, in ×2 + 12.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7332c22390, in __cxa_throw ×2 + 12.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7332c0ca54, in std::terminate() ×2 + 12.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7332c220d9, in ×2 + 12.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7332c0cff4, in ×2 + 12.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f733294d8fe, in abort ×2 + 12.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f733296a27d, in raise ×2 + 12.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f73329c3b2c, in pthread_kill ×2 + 12.07sERRORmove_groupAborted (Signal sent by tkill() 9250 0) ×2 + 12.07sINFOmap_serverCleaning up + 12.07sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.07sINFOcontroller_serverCleaning up + 12.07sINFOlocal_costmap.local_costmapCleaning up + 12.07sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.07sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.07sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.07sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.07sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.07sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.07sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.07sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.07sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 12.07sINFOobjective_server_node[2026-06-23 17:31:20.083] [moveit_pro_license] [info] ×2 + 12.07sINFOobjective_server_node************************************************* ×4 + 12.07sINFOobjective_server_node* MoveIt Pro License ×2 + 12.07sINFOobjective_server_node* Application has successfully terminated ×2 + 12.08sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 12.08sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.08sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.08sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564aaa7966a4, in _start ×2 + 12.08sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e7a52f28a, in __libc_start_main ×2 + 12.08sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e7a52f1d0, in ×2 + 12.08sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e7a54cbbd, in exit ×2 + 12.08sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e7a54ca75, in ×2 + 12.08sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0e7aa1e4a2, in spdlog::details::registry::~registry() ×2 + 12.08sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0e7aa2969d, 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 + 12.08sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0e7aa23965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.08sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564aaa79d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 12.08sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564aaa79c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 12.08sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564aaa798b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 12.08sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564aaa796d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.08sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e7b0bc454, in rclcpp::Node::~Node() ×2 + 12.08sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e7b077515, in ×2 + 12.08sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e7b0bad20, in ×2 + 12.08sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e7b0bac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 12.08sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e7b0775d9, in ×2 + 12.08sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e7b07c161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 12.08sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0e2995e140]) ×2 + 12.08sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.08sINFOodom_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 + 12.08sINFOodom_qos_relay.pymain() ×2 + 12.08sINFOodom_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 + 12.08sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.08sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.08sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.08sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.08sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.08sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 12.09sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 12.11sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 12.11sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.11sINFOsmoother_serverCleaning up + 12.11sERRORobjective_server_node_main-24process has died [pid 9296, 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_pr1gyvd3 --params-file /tmp/launch_params_uqpxwmrn --params-file /tmp/launch_params_etpz1779 --params-file /tmp/launch_params_i175zvgn --params-file /tmp/launch_params_vtmzl_yt --params-file /tmp/launch_params_5_xzsigp --params-file /tmp/launch_params_yqf3wxdi --params-file /tmp/launch_params_3_6ddz3z --params-file /tmp/launch_params_amsf1v32']. ×2 + 12.11sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 12.12sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 12.12sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.12sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.14sERRORamclThe bond connection to the lifecycle manager has been broken + 12.15sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.15sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 12.15sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.15sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 12.15sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.15sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 12.15sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.15sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 12.15sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.15sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 12.15sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.17sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.17sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 12.62sERRORcomponent_container_isolated-1process has died [pid 9166, 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_jp5hc29e --params-file /tmp/launch_params_f1b3g3ry -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.90sERRORui_teleop_bridge-27process has died [pid 9301, 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_ebps3h8d']. ×2 + 12.91sINFOexecute_objective_bridge-26process has finished cleanly [pid 9300] ×2 + 12.91sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9295] ×2 + 12.92sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9253] ×2 + 12.97sINFOparameter_manager_node-20process has finished cleanly [pid 9251] ×2 + 13.01sINFOwaypoint_manager_node-21process has finished cleanly [pid 9252] ×2 + 13.03sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9171] ×2 + 13.04sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9170] ×2 + 13.07sINFOstatic_transform_publisher-3process has finished cleanly [pid 9168] ×2 + 13.08sINFOstatic_transform_publisher-2process has finished cleanly [pid 9167] ×2 + 13.11sERRORodom_qos_relay.py-4process has died [pid 9169, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 14.09sINFOcomponent_container_mt-25process has finished cleanly [pid 9299] ×2 + 14.71sINFOweb_bridge-28process has finished cleanly [pid 9302] ×2 + 14.71sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 14.78sINFOros2_control_node-7process has finished cleanly [pid 9172] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 57 warnings · 119 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780582 ms (missed cycles : 3).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.131ms + 0.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.150ms + 0.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.172ms + 0.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.353ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606865 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606865 ms (missed cycles : 4).[0m ×2 + 1.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.116ms + 1.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.185ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666820 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666820 ms (missed cycles : 2).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.613ms + 2.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.279ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161289 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161289 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782235721.66858554 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.679ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266509 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266509 ms (missed cycles : 2).[0m ×2 + 4.39sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.460ms + 4.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.096ms + 4.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.66sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782235722.22668314 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.934ms + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.180ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220578 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220578 ms (missed cycles : 2).[0m ×2 + 5.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.263ms + 5.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.921ms + 6.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.237ms + 6.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.29sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.304ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675612 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675612 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.49sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.040ms + 6.59sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.281ms + 6.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.399ms + 6.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.655ms + 7.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.209ms + 7.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.912ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229065 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229065 ms (missed cycles : 2).[0m ×2 + 7.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.865ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455831 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455831 ms (missed cycles : 2).[0m ×2 + 9.26sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.161ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848228 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848228 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.031ms + 9.89sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 10.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.372ms + 10.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.060ms + 10.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.098ms + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633242 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633242 ms (missed cycles : 4).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.195ms + 10.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.103ms + 11.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.119ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466134 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466134 ms (missed cycles : 4).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.997ms + 12.09sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.039ms + 12.19sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.795ms + 12.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.192ms + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251502 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251502 ms (missed cycles : 4).[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.856ms + 13.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.933ms + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678522 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678522 ms (missed cycles : 3).[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.915ms + 14.17sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.102ms + 14.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.148ms + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058885 ms (missed cycles : 5). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.058885 ms (missed cycles : 5).[0m ×2 + 14.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.946ms + 14.82sINFOjoint_trajectory_controllerGot request to cancel goal + 14.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782235732.39469814 seconds ×3 + 14.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.869ms + 15.25sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.931ms + 15.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782235732.95157146 seconds. ×3 + 15.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.007ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172346 ms (missed cycles : 5). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172346 ms (missed cycles : 5).[0m ×2 + 15.74sINFOobjective_server_nodeFound path in 0 iterations (1.02e-06 s). ×2 + 15.85sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.818ms + 16.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.923ms + 16.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.175ms + 16.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.914ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316465 ms (missed cycles : 4). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316465 ms (missed cycles : 4).[0m ×2 + 17.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.05sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.805ms + 17.35sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.168ms + 17.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.809ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 42 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 1.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 2.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 2.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 3.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 3.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 4.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.64sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 + 7.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.672ms + 7.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.367ms + 7.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.391ms + 7.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.926ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400028 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400028 ms (missed cycles : 4).[0m ×2 + 7.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.438ms + 7.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.433ms + 8.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.216ms + 8.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.736ms + 8.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.571ms ×2 + 8.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.071ms + 8.35sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782235637.54031754 seconds ×3 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007275 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007275 ms (missed cycles : 4).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.503ms + 8.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.540ms + 8.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.574ms + 9.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.493ms + 9.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.553ms + 9.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.258ms + 9.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.430ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977763 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977763 ms (missed cycles : 3).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.482ms + 9.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.512ms + 9.91sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782235639.09522510 seconds. ×3 + 9.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.609ms + 10.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.111ms + 10.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.617ms + 10.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.492ms + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.466ms + 10.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.533ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957699 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957699 ms (missed cycles : 2).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.129ms + 10.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.751ms + 10.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.823ms + 10.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.675ms + 11.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.560ms + 11.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.495ms + 11.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.931ms + 11.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.786ms + 11.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.487ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650608 ms (missed cycles : 3). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650608 ms (missed cycles : 3).[0m ×2 + 11.63sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.305ms + 11.73sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.317ms + 11.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.738ms + 11.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.802ms + 12.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.767ms + 12.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.314ms + 12.23sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.744ms | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 39 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782235572.59496784 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3).[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 4.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.58sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782235573.14966393 seconds. ×3 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.965ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.938e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427718 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427718 ms (missed cycles : 2).[0m ×2 + 7.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782235576.24989176 seconds ×3 + 7.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.382ms + 8.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.104ms + 8.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782235576.80304384 seconds. ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463314 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463314 ms (missed cycles : 3).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.360ms + 8.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.453ms + 8.59sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.937474 ms (missed cycles : 8). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.937474 ms (missed cycles : 8).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.074ms + 9.65sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.233ms + 9.75sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.302ms + 10.19sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693763 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693763 ms (missed cycles : 2).[0m ×2 + 10.55sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.582ms | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 30 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479904 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479904 ms (missed cycles : 4).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.466ms + 0.52sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.434ms + 0.63sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.595ms + 0.71sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.539ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.467ms + 1.92sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.515ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.531ms + 3.12sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.530ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782235871.07732797 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.490ms + 3.96sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.472ms ×2 + 4.01sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.532ms + 4.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.14sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782235871.66579962 seconds. ×3 + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.19sINFOmove_groupClearing octomap...[0m ×2 + 4.19sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.464ms + 4.61sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.465ms + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782235872.22599339 seconds ×3 + 4.81sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.472ms + 4.93sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 5.01sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.662ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782235872.77936053 seconds. ×3 + 5.31sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.473ms + 5.62sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.580ms + 5.91sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.453ms + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782235873.45950246 seconds ×3 + 6.06sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.549ms + 6.12sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.692ms + 6.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260916 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260916 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765392 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765392 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 76 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782235572.59496784 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3).[0m ×2 + 0.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 0.59sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 0.59sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.59sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 0.59sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782235573.14966393 seconds. ×3 + 0.96sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.965ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7).[0m ×2 + 1.51sINFOobjective_server_nodeFound path in 0 iterations (2.938e-05 s). ×2 + 1.51sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.54sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.54sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.54sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427718 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427718 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782235576.24989176 seconds ×3 + 3.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.382ms + 4.16sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.104ms + 4.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782235576.80304384 seconds. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463314 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463314 ms (missed cycles : 3).[0m ×2 + 4.46sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.360ms + 4.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.453ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.937474 ms (missed cycles : 8). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.937474 ms (missed cycles : 8).[0m ×2 + 5.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.074ms + 5.66sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.233ms + 5.76sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 5.302ms + 6.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693763 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693763 ms (missed cycles : 2).[0m ×2 + 6.56sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.582ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 1.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 2.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 2.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 3.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 3.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 4.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 1.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 2.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 2.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 3.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 3.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 4.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 1.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 2.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 2.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 3.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 3.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 4.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 1.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 2.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 2.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 3.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 3.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 4.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760450 ms (missed cycles : 5).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.625ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520375 ms (missed cycles : 4).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.583ms + 1.43sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.339ms + 1.54sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.515ms + 2.13sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.523ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696550 ms (missed cycles : 3).[0m ×2 + 2.24sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 10.167ms + 2.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.905ms + 3.04sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.839ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535380 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.69sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782235632.87604737 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.963ms + 3.83sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.352ms + 4.14sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.128ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285773 ms (missed cycles : 4).[0m ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782235633.45014715 seconds. ×3 + 4.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.479ms + 4.53sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.481ms + 4.60sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.64sINFOjoint_trajectory_controllerReceived new action goal + 4.64sINFOjoint_trajectory_controllerAccepted new action goal + 4.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906089 ms (missed cycles : 2).[0m ×2 + 5.93sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.500ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782235572.59496784 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3).[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 4.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.58sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782235573.14966393 seconds. ×3 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.965ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.938e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700415 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356490 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886202 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902132 ms (missed cycles : 4).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGoal reached, success! + 3.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782235572.59496784 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094057 ms (missed cycles : 3).[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.087ms + 4.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.58sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782235573.14966393 seconds. ×3 + 4.95sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 3.965ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.574338 ms (missed cycles : 7).[0m ×2 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (2.938e-05 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.53sINFOjoint_trajectory_controllerReceived new action goal + 5.53sINFOjoint_trajectory_controllerAccepted new action goal + 5.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356802 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.215ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.426ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.523ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.335ms + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.285ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.018ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782235669.41538453 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.949ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.926ms + 4.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.47sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782235669.98843575 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.229ms + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 5.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.283ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.999ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.375ms + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.024ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.215ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.426ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.523ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.335ms + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.285ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.018ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782235669.41538453 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.949ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.926ms + 4.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.47sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782235669.98843575 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.229ms + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 5.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.283ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.999ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.375ms + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.024ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.215ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587169 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.136ms + 1.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.426ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854862 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.523ms + 1.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.335ms + 1.70sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.285ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890678 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.018ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996329 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782235669.41538453 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.949ms + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020257 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.926ms + 4.47sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.47sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.47sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782235669.98843575 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.229ms + 4.74sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.034ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.90sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.270ms + 5.21sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.283ms + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363045 ms (missed cycles : 6).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.340ms + 5.80sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 1.999ms + 6.10sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.375ms + 6.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817714 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 2.024ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 47 info |
+ 0.00sINFOamclParticle filter update iteration stats: 697 particles 91 points - 0.826ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.198590 ms (missed cycles : 6).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.749ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793101 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.808ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127885 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 621 particles 91 points - 0.689ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783439 ms (missed cycles : 5).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782235802.71176720 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 653 particles 91 points - 0.674ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185155 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 599 particles 91 points - 0.635ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782235803.27719760 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOamclParticle filter update iteration stats: 588 particles 91 points - 0.630ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 5.00sINFOamclParticle filter update iteration stats: 610 particles 91 points - 0.603ms + 5.15sINFOamclParticle filter update iteration stats: 708 particles 91 points - 0.747ms + 5.20sINFOamclParticle filter update iteration stats: 784 particles 91 points - 0.872ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807324 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 741 particles 91 points - 0.891ms + 5.60sINFOamclParticle filter update iteration stats: 860 particles 91 points - 0.931ms + 5.90sINFOamclParticle filter update iteration stats: 741 particles 91 points - 1.005ms + 6.20sINFOamclParticle filter update iteration stats: 664 particles 91 points - 0.698ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067966 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479904 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479904 ms (missed cycles : 4).[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.466ms + 0.52sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.434ms + 0.63sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.595ms + 0.71sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.539ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.575623 ms (missed cycles : 5).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.467ms + 1.92sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.515ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933815 ms (missed cycles : 2).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.531ms + 3.12sINFOamclParticle filter update iteration stats: 532 particles 91 points - 0.530ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074079 ms (missed cycles : 2).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782235871.07732797 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.490ms + 3.96sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.472ms + 4.01sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.532ms + 4.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.14sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782235871.66579962 seconds. ×3 + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.19sINFOmove_groupClearing octomap...[0m ×2 + 4.19sINFOmove_groupOctomap cleared.[0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671282 ms (missed cycles : 2).[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.464ms + 4.61sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.465ms + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782235872.22599339 seconds ×3 + 4.81sINFOamclParticle filter update iteration stats: 510 particles 91 points - 0.472ms + 4.93sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.536ms + 5.01sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.662ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978546 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782235872.77936053 seconds. ×3 + 5.31sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.473ms + 5.62sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.580ms + 5.91sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.453ms + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782235873.45950246 seconds ×3 + 6.06sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.549ms + 6.12sINFOamclParticle filter update iteration stats: 500 particles 91 points - 0.692ms + 6.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260916 ms (missed cycles : 2). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_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 | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_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 | 26.9s | 15 errors · 315 warnings · 1126 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/2026-06-23-17-25-00-283412-1d42e7a63055-9117 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.27sINFOstatic_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' + 13.28sINFOstatic_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' + 13.38sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.41sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.43sINFOcontroller_managerupdate rate is 600 Hz + 13.43sINFOcontroller_managerOverruns handling is : enabled + 13.43sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.43sWARNcontroller_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. + 13.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760255 ms (missed cycles : 2). + 13.52sINFOros2_control_node-7process started with pid [9172] ×2 + 13.53sINFOmove_group-19process started with pid [9250] ×2 + 13.53sINFOparameter_manager_node-20process started with pid [9251] ×2 + 13.53sINFOwaypoint_manager_node-21process started with pid [9252] ×2 + 13.53sINFOmove_joint_resampler_node-22process started with pid [9253] ×2 + 13.53sINFOmove_end_effector_resampler_node-23process started with pid [9295] ×2 + 13.53sINFOobjective_server_node_main-24process started with pid [9296] ×2 + 13.53sINFOcomponent_container_mt-25process started with pid [9299] ×2 + 13.53sINFOexecute_objective_bridge-26process started with pid [9300] ×2 + 13.53sINFOui_teleop_bridge-27process started with pid [9301] ×2 + 13.53sINFOweb_bridge-28process started with pid [9302] ×2 + 13.53sINFOtf2_web_republisher_node-29process started with pid [9317] ×2 + 13.53sINFOweb_video_server-30process started with pid [9318] ×2 + 13.53sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.55sINFOcomponent_container_isolated-1process started with pid [9166] ×2 + 13.55sINFOstatic_transform_publisher-2process started with pid [9167] ×2 + 13.55sINFOstatic_transform_publisher-3process started with pid [9168] ×2 + 13.55sINFOodom_qos_relay.py-4process started with pid [9169] ×2 + 13.55sINFOscan_to_scan_filter_chain-5process started with pid [9170] ×2 + 13.55sINFOscan_to_scan_filter_chain-6process started with pid [9171] ×2 + 13.55sINFOros2-8process started with pid [9173] ×2 + 13.55sINFOros2-9process started with pid [9240] ×2 + 13.55sINFOros2-10process started with pid [9241] ×2 + 13.55sINFOros2-11process started with pid [9242] ×2 + 13.55sINFOros2-12process started with pid [9243] ×2 + 13.55sINFOros2-13process started with pid [9244] ×2 + 13.55sINFOros2-14process started with pid [9245] ×2 + 13.55sINFOros2-15process started with pid [9246] ×2 + 13.55sINFOros2-16process started with pid [9247] ×2 + 13.55sINFOros2-17process started with pid [9248] ×2 + 13.55sINFOros2-18process started with pid [9249] ×2 + 13.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.59sINFOmap_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. + 13.59sINFOmap_serverCreating + 13.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.65sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 13.65sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.65sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.65sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.65sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 13.65sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 13.65sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.65sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.65sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.65sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.65sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.65sWARNros2_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 + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760255 ms (missed cycles : 2).[0m ×2 + 13.66sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.66sINFOcontroller_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. + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.70sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.70sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.72sINFOcontroller_serverCreating controller server + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.75sINFOlocal_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. + 13.76sINFOlocal_costmap.local_costmapCreating Costmap + 13.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.86sINFOsmoother_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. + 13.88sINFOrobot_state_publisherRobot initialized + 13.88sINFOcontroller_managerReceived robot description from topic. + 13.88sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.88sINFOsmoother_serverCreating smoother server + 13.88sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.88sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.91sINFOlifecycle_manager_localizationCreating + 13.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.94sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.95sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.95sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.95sINFOmap_serverConfiguring + 13.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.98sINFOplanner_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. + 14.03sINFOplanner_serverCreating + 14.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.05sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.05sINFOamclConfiguring + 14.06sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.06sINFOmap_serverActivating + 14.06sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.08sINFOglobal_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. + 14.09sINFOglobal_costmap.global_costmapCreating Costmap + 14.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.13sINFObehavior_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. + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 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/stream/vp9[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 14.14sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 14.14sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 14.16sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 14.17sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.18sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 14.18sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.18sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.18sINFOamclActivating + 14.18sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.19sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.24sINFOamclSubscribed to map_topic: /map + 14.25sINFOamclSubscribed to scan_topic: /scan_front_filtered + 14.25sINFOamclCreated reinitialize_global_localization service + 14.25sINFOamclCreated request_nomotion_update service + 14.25sINFOamclA new map was received + 14.25sINFOamclInitializing particle filter instance + 14.26sINFObt_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. + 14.29sWARNlaser_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. + 14.29sWARNlaser_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. + 14.29sINFObt_navigatorCreating + 14.29sWARNscan_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 + 14.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.34sINFOwaypoint_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. + 14.35sINFOwaypoint_followerCreating + 14.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.40sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.353925 seconds + 14.40sINFOmove_groupLoaded robot model in 0.353925 seconds[0m ×2 + 14.40sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.40sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.40sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.40sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.41sINFOvelocity_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. + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.45sINFOlifecycle_manager_navigationCreating + 14.46sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.48sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.48sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.48sINFOcontroller_serverConfiguring controller interface + 14.48sINFOcontroller_servergetting progress checker plugins.. + 14.49sINFOcontroller_servergetting goal checker plugins.. + 14.49sINFOcontroller_serverController frequency set to 20.0000Hz + 14.49sINFOlocal_costmap.local_costmapConfiguring + 14.50sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.52sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580435 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580435 ms (missed cycles : 3).[0m ×2 + 14.57sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.58sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.58sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.63sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.64sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.65sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.65sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.67sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.69sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.73sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.73sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.73sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.73sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.75sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.75sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.75sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.75sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.76sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.76sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.76sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.77sINFOcontroller_serverOptimizer reset + 14.79sINFOcontroller_serverController Server has FollowPath controllers available. + 14.81sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.81sINFOsmoother_serverConfiguring smoother server + 14.84sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.85sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.86sINFOamclParticle filter initialization completed + 14.86sINFOamclInitializing particles from map + 14.86sINFOamclParticle filter initialized with 2000 particles distributed across the map + 14.86sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.86sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.86sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.86sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.86sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.86sINFOplanner_serverConfiguring + 14.86sINFOglobal_costmap.global_costmapConfiguring + 14.88sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.89sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.89sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.89sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.89sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.92sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.92sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.93sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.94sINFOwaypoint_manager_nodeLoaded robot model in 0.363023 seconds[0m ×2 + 14.94sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.94sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.95sFATALplanner_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 + 14.95sINFOplanner_serverCleaning up + 14.95sINFOglobal_costmap.global_costmapCleaning up + 14.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.00sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.00sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.00sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 15.00sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 15.00sWARNmove_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. + 15.00sWARNmove_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 + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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. + 15.01sWARNmove_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 + 15.01sWARNmove_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 + 15.01sWARNmove_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 + 15.02sWARNmove_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. + 15.02sWARNmove_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. + 15.02sWARNmove_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 + 15.02sWARNmove_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 + 15.03sWARNmove_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. + 15.03sWARNmove_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. + 15.03sWARNmove_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 + 15.03sWARNmove_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. + 15.03sWARNmove_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 + 15.03sWARNmove_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 + 15.04sWARNmove_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. + 15.04sWARNmove_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 + 15.26sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 15.26sINFOros2waiting for service /controller_manager/list_controllers to become available... ×8 + 15.47sWARNwaypoint_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. + 15.47sWARNwaypoint_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 + 15.48sWARNwaypoint_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. + 15.48sWARNwaypoint_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 + 15.48sWARNwaypoint_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. + 15.48sWARNwaypoint_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 + 15.48sWARNwaypoint_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. + 15.49sWARNwaypoint_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 + 15.49sWARNwaypoint_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. + 15.49sWARNwaypoint_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 + 15.49sWARNwaypoint_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. + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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. + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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. + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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. + 15.50sWARNwaypoint_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 + 15.50sWARNwaypoint_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. + 15.50sWARNwaypoint_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 + 15.51sWARNwaypoint_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. + 15.51sWARNwaypoint_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 + 15.51sWARNwaypoint_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. + 15.51sWARNwaypoint_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 + 15.52sWARNwaypoint_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. + 15.52sWARNwaypoint_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 + 15.53sWARNwaypoint_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. + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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. + 15.53sWARNwaypoint_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. + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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 + 15.53sWARNwaypoint_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. + 15.54sWARNwaypoint_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 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882075 ms (missed cycles : 2). + 15.54sWARNwaypoint_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. + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882075 ms (missed cycles : 2).[0m ×2 + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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. + 15.54sWARNwaypoint_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. + 15.54sWARNwaypoint_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 + 15.54sWARNwaypoint_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. + 15.54sWARNwaypoint_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. + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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. + 15.55sWARNwaypoint_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. + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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. + 15.55sWARNwaypoint_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. + 15.55sWARNwaypoint_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. + 15.55sWARNwaypoint_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. + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.55sWARNwaypoint_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 + 15.60sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.60sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.60sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.60sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.63sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.63sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.63sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.63sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.63sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.63sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.63sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.63sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.63sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.63sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.63sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.64sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.64sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.64sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.64sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.64sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.64sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.64sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.64sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.00sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.00sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.22sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.22sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.22sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.22sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.22sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.22sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.22sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.22sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.22sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.22sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.22sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.22sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.22sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.22sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.22sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.22sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.22sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.22sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.22sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.22sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.22sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.22sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.22sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.23sINFOros2-31process started with pid [9835] ×2 + 16.24sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.24sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.25sWARNros2_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 + 16.27sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.27sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.27sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.27sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.30sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 16.30sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 16.32sINFOobjective_server_node[2026-06-23 17:25:19.775] [moveit_pro_license] [info] ×2 + 16.32sINFOobjective_server_node************************************************* ×4 + 16.32sINFOobjective_server_node* MoveIt Pro License ×2 + 16.32sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.33sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 16.33sINFOros2Loaded imu_sensor_broadcaster ×2 + 16.33sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.33sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 2000 particles 91 points - 4.519ms + 16.35sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.35sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 16.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 16.36sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 16.36sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 16.40sINFOobjective_server_nodeLoaded robot model in 0.0257422 seconds[0m ×2 + 16.40sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.40sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763277 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763277 ms (missed cycles : 2).[0m ×2 + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.72sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 16.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 16.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 16.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 16.74sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 16.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 16.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.75sINFOros2-9process has finished cleanly [pid 9240] ×2 + 16.78sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.78sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.78sWARNobjective_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. + 16.78sWARNobjective_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. + 16.78sWARNobjective_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 + 16.78sWARNobjective_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 + 16.79sWARNobjective_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. + 16.79sWARNobjective_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 + 16.79sWARNobjective_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. + 16.79sWARNobjective_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 + 16.79sWARNobjective_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. + 16.79sWARNobjective_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. + 16.79sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 16.79sWARNobjective_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. + 16.79sWARNobjective_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. + 16.79sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 16.79sWARNobjective_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 + 16.79sWARNobjective_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 + 16.79sWARNobjective_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 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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. + 16.80sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 16.80sWARNobjective_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. + 16.80sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 16.80sWARNobjective_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 + 16.80sWARNobjective_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 + 16.81sINFOforce_torque_sensor_broadcasterconfigure successful + 16.81sINFOros2_control_nodeconfigure successful[0m ×6 + 16.81sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 16.81sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 16.82sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 16.82sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 16.89sINFOobjective_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 + 16.89sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.91sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.02sWARNcomponent_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 + 17.10sINFOros2-8process has finished cleanly [pid 9173] ×2 + 17.17sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.17sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 17.17sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.17sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 17.18sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 17.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 17.29sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 17.29sINFOros2Loaded platform_velocity_controller ×2 + 17.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 17.29sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 17.29sINFOplatform_velocity_controllerconfigure successful + 17.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 17.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 17.31sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 17.31sINFOros2Configured and activated platform_velocity_controller ×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 + 17.47sINFOcomponent_container_mtLoaded robot model in 0.455557 seconds[0m ×2 + 17.47sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.47sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 17.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240728 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240728 ms (missed cycles : 2).[0m ×2 + 17.71sINFOros2-11process has finished cleanly [pid 9242] ×2 + 17.72sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 17.72sINFOros2Loaded joint_state_broadcaster ×2 + 17.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.73sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 17.73sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 17.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.73sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.73sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 17.73sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 17.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.74sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 17.74sINFOros2Configured and activated joint_state_broadcaster ×2 + 17.87sWARNplanning_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. + 17.87sWARNplanning_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. + 17.87sWARNcomponent_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 + 17.87sWARNplanning_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. + 17.87sWARNplanning_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. + 17.87sWARNcomponent_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 + 17.87sWARNcomponent_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 + 17.87sWARNplanning_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. + 17.87sWARNplanning_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. + 17.87sWARNcomponent_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 + 17.87sWARNplanning_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. + 17.87sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNplanning_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. + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNplanning_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. + 17.88sWARNplanning_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. + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.88sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 17.89sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 17.89sWARNplanning_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. + 17.89sWARNcomponent_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 + 18.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.02sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.02sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 18.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.02sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 18.06sINFOros2-10process has finished cleanly [pid 9241] ×2 + 18.10sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 18.10sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 18.11sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.11sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.11sINFOplatform_velocity_controller_nav2configure successful + 18.12sINFOros2publisher: beginning loop ×2 + 18.12sINFOamclInitializing particles from estimated pose and covariance + 18.12sINFOamclParticle filter initialized with 2000 particles about initial pose x=0, y=0, yaw=0 + 18.13sINFOros2publishing #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 + 18.13sINFOros20. , 0. , 0. , 0. , 0. , 0. , 0. , 0. , ×6 + 18.13sINFOros20. , 0. , 0. , 0.0685]))) ×2 + 18.13sINFOros2 ×2 + 18.14sINFOamclParticle filter update iteration stats: 1840 particles 91 points - 2.804ms + 18.24sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1782235520.697 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.32sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.32sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.33sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 18.33sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.39sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.40sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.40sINFOmove_groupMoveGroup debug mode is ON + 18.40sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.40sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.41sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.43sINFOros2-13process has finished cleanly [pid 9244] ×2 + 18.47sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.47sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 18.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 18.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.56sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.56sINFOros2-31process has finished cleanly [pid 9835] ×2 + 18.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 18.63sINFOros2Loaded joint_velocity_controller ×2 + 18.64sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.64sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.66sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.68sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239319 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239319 ms (missed cycles : 2).[0m ×2 + 18.75sINFOmove_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
********************************************************
+ 18.75sINFOmove_group ×8 + 18.75sINFOmove_group******************************************************** ×4 + 18.75sINFOmove_group* MoveGroup using: ×2 + 18.75sINFOmove_group* - apply_planning_scene_service ×2 + 18.75sINFOmove_group* - clear_octomap_service ×2 + 18.75sINFOmove_group* - ExecuteTaskSolution ×2 + 18.75sINFOmove_group* - get_group_urdf ×2 + 18.75sINFOmove_group* - load_geometry_from_file ×2 + 18.75sINFOmove_group* - get_planning_scene_service ×2 + 18.75sINFOmove_group* - kinematics_service ×2 + 18.75sINFOmove_group* - save_geometry_to_file ×2 + 18.75sINFOmove_group* - GetPlanningGroups ×2 + 18.75sINFOmove_group* - SetActiveControllerService ×2 + 18.75sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.75sINFOmove_group[0m ×2 + 18.75sINFOmove_group[92mYou can start planning now![0m ×2 + 18.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.82sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.82sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.83sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.83sINFOstreaming_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) + 18.83sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.83sINFOcomponent_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 + 18.88sWARNobjective_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 + 19.05sINFOros2_control_node[2026-06-23 17:25:22.505] [info] Controller state will be published at 20 Hz. ×2 + 19.05sINFOros2_control_node[2026-06-23 17:25:22.506] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 19.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 19.46sINFOros2-17process has finished cleanly [pid 9248] ×2 + 19.49sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 19.49sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 19.49sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.49sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 19.88sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 19.88sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.24sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.24sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.24sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.24sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.26sINFOros2-18process has finished cleanly [pid 9249] ×2 + 20.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 20.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 20.40sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 20.40sINFOros2Loaded arm_only_velocity_force_controller ×2 + 20.41sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.41sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.80sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.81sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 20.81sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 21.19sINFOros2-16process has finished cleanly [pid 9247] ×2 + 21.20sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 21.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.21sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 21.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 21.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.23sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 21.23sINFOros2Loaded vacuum_gripper ×2 + 21.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.24sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.24sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.24sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.25sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 21.25sINFOros2Configured and activated vacuum_gripper ×2 + 21.73sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.73sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.73sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 21.73sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.73sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.73sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 21.77sINFOros2-12process has finished cleanly [pid 9243] ×2 + 21.81sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 21.81sINFOros2Loaded velocity_force_controller ×2 + 21.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.82sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 22.20sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.20sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 22.20sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.59sINFOros2-15process has finished cleanly [pid 9246] ×2 + 22.63sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.88sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 22.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 22.98sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 22.98sINFOros2Loaded joint_trajectory_controller ×2 + 22.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.98sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.98sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.99sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.99sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.99sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.99sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.99sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.99sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.99sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 23.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 23.33sINFOros2-14process has finished cleanly [pid 9245] ×2 + 23.71sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 23.72sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 23.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 23.72sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 23.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 23.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.72sINFOmove_groupClearing octomap...[0m ×2 + 23.72sINFOmove_groupOctomap cleared.[0m ×2 + 23.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 24.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 24.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 24.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 25.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 25.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 25.62sINFOobjective_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 + 25.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 26.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 26.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 26.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 26.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 26.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 26.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 26.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 26.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 26.25sINFOros2_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 | 42 warnings · 267 info |
+ 0.00sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.07sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.07sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.14sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.14sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.54sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 0.93sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.94sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.94sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.94sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.94sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.94sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.95sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.95sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.96sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.97sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.97sINFOros2Loaded vacuum_gripper ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.97sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.99sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.99sINFOros2Configured and activated vacuum_gripper ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.50sINFOros2-12process has finished cleanly [pid 9243] ×2 + 1.55sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.55sINFOros2Loaded velocity_force_controller ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.94sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.94sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.94sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.36sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 2.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 2.72sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.72sINFOros2Loaded joint_trajectory_controller ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.72sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.72sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.45sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.45sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.36sINFOobjective_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 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 7.03sWARNobjective_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 + 7.03sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.31sINFOjoint_trajectory_controllerReceived new action goal + 7.31sINFOjoint_trajectory_controllerAccepted new action goal + 7.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 42 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 | 39 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 39 warnings · 258 info |
+ 0.00sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.07sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.07sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.14sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.14sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.54sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 0.93sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.94sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.94sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.94sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.94sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.94sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.95sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.95sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.96sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.97sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.97sINFOros2Loaded vacuum_gripper ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.97sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.99sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.99sINFOros2Configured and activated vacuum_gripper ×2 + 1.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.50sINFOros2-12process has finished cleanly [pid 9243] ×2 + 1.55sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.55sINFOros2Loaded velocity_force_controller ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.94sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.94sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.94sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.33sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.36sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 2.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 2.72sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.72sINFOros2Loaded joint_trajectory_controller ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.72sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.72sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.07sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.45sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.45sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.36sINFOobjective_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 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898688 ms (missed cycles : 2).[0m ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.335] [info] Controller state will be published at 20 Hz. ×2 + 0.07sINFOros2_control_node[2026-06-23 17:25:23.336] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2-18process has finished cleanly [pid 9249] ×2 + 0.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.99sINFOros2_control_node[2026-06-23 17:25:24.260] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.263] [info] Controller state will be published at 10 Hz. ×2 + 1.00sINFOros2_control_node[2026-06-23 17:25:24.264] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838079 ms (missed cycles : 2).[0m ×2 + 1.38sINFOros2-16process has finished cleanly [pid 9247] ×2 + 1.39sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.40sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.40sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.40sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.40sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.42sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.43sINFOros2Loaded vacuum_gripper ×2 + 1.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.44sINFOros2Configured and activated vacuum_gripper ×2 + 1.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.96sINFOros2-12process has finished cleanly [pid 9243] ×2 + 2.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.00sINFOros2Loaded velocity_force_controller ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 2.39sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 2.40sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.78sINFOros2-15process has finished cleanly [pid 9246] ×2 + 2.82sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 3.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 3.17sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.17sINFOros2Loaded joint_trajectory_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.17sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.17sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.18sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.18sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.18sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.18sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.18sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.52sINFOros2-14process has finished cleanly [pid 9245] ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 4.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 5.82sINFOobjective_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 + 5.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 6.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sINFOros2_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 | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_waypoint.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_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 | 42 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284302 ms (missed cycles : 7). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.284302 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 39 warnings · 246 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9247] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting 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 : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.04sINFOros2Loaded vacuum_gripper ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.06sINFOros2Configured and activated vacuum_gripper ×2 + 0.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.54sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 0.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 0.58sINFOros2-12process has finished cleanly [pid 9243] ×2 + 0.62sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.62sINFOros2Loaded velocity_force_controller ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.65sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.037306 ms (missed cycles : 6).[0m ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.658] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.01sINFOros2_control_node[2026-06-23 17:25:25.661] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-06-23 17:25:25.663] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.40sINFOros2-15process has finished cleanly [pid 9246] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ + 1.70sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d7dojv31 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_dszmwpa1 --params-file /tmp/launch_params_fdr4rop_ [0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017951 ms (missed cycles : 2).[0m ×2 + 1.79sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.79sINFOros2Loaded joint_trajectory_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.80sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sINFOros2-14process has finished cleanly [pid 9245] ×2 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.53sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 2.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782235527.17781949 seconds. ×3 + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.53sINFOmove_groupClearing octomap...[0m ×2 + 2.53sINFOmove_groupOctomap cleared.[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782235527.18805408 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099670 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782235527.76228213 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782235527.77244520 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782235528.32747149 seconds. ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435023 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782235528.47812510 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782235529.06953311 seconds. ×3 + 4.44sINFOobjective_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 + 4.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.48sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782235529.12974620 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492064 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782235529.67693138 seconds. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129027 ms (missed cycles : 5).[0m ×2 + 6.10sWARNobjective_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 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||