67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.5s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.5s | 3 errors · 237 warnings · 225 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.416ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574856 ms (missed cycles : 3). + 0.50sINFOamclParticle filter update iteration stats: 4962 particles 91 points - 8.560ms + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574856 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 4477 particles 91 points - 6.772ms + 1.50sINFOamclParticle filter update iteration stats: 3876 particles 91 points - 5.086ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236000 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236000 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 3326 particles 91 points - 4.439ms + 2.50sINFOamclParticle filter update iteration stats: 2794 particles 91 points - 4.636ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833834 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833834 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 2397 particles 91 points - 4.065ms + 3.37sINFOjoint_trajectory_controllerGot request to cancel goal + 3.37sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.37sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.37sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782402402.44985080 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 5.857ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.748ms + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.245736 ms (missed cycles : 7). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.245736 ms (missed cycles : 7).[0m ×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 ×2 + 3.91sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 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 ×4 + 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 ×4 + 3.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782402402.99741936 seconds. ×3 + 3.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.481ms + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.181ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.732ms + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.898ms + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938493 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938493 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.354ms + 5.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.21sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.21sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.21sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.21sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.297ms + 5.92sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.405ms + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461982 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461982 ms (missed cycles : 3).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.478ms + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445140 ms (missed cycles : 3). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445140 ms (missed cycles : 3).[0m ×2 + 7.05sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.326ms + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.406ms + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.878ms + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558702 ms (missed cycles : 4). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558702 ms (missed cycles : 4).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.096ms + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.637ms + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816383 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816383 ms (missed cycles : 2).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.116ms + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.040ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.095ms + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208171 ms (missed cycles : 4). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208171 ms (missed cycles : 4).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.869ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.966ms + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029563 ms (missed cycles : 4). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.029563 ms (missed cycles : 4).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.881ms + 12.04sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.124ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.804ms + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179972 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179972 ms (missed cycles : 2).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.253ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.294ms + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041695 ms (missed cycles : 4). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041695 ms (missed cycles : 4).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.332ms + 14.10sINFOamclParticle filter update iteration stats: 4745 particles 91 points - 6.395ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837331 ms (missed cycles : 5). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837331 ms (missed cycles : 5).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 3430 particles 91 points - 4.478ms + 14.74sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 5.577ms + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.812ms + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.115ms + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449997 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449997 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.255ms + 16.30sINFOamclParticle filter update iteration stats: 3845 particles 91 points - 5.868ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729176 ms (missed cycles : 2). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729176 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 2439 particles 91 points - 3.645ms + 17.04sINFOamclParticle filter update iteration stats: 3523 particles 91 points - 3.186ms + 17.10sINFOamclParticle filter update iteration stats: 4642 particles 91 points - 5.895ms + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719466 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719466 ms (missed cycles : 2).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 3575 particles 91 points - 4.555ms + 18.10sINFOamclParticle filter update iteration stats: 2124 particles 91 points - 3.116ms + 18.59sINFOamclParticle filter update iteration stats: 1809 particles 91 points - 2.065ms + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950070 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950070 ms (missed cycles : 2).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1279 particles 91 points - 2.108ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.388ms + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392923 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392923 ms (missed cycles : 2).[0m ×2 + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.223ms + 20.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.159ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115467 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115467 ms (missed cycles : 2).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.075ms ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.196ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812088 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812088 ms (missed cycles : 2).[0m ×2 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.120ms + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.090ms + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483411 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483411 ms (missed cycles : 2).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.139ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.228ms + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384560 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384560 ms (missed cycles : 2).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.254ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.098ms + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324357 ms (missed cycles : 3). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324357 ms (missed cycles : 3).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.110ms + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463756 ms (missed cycles : 4). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463756 ms (missed cycles : 4).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.070ms ×2 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.171ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949167 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949167 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.200ms + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.970ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471420 ms (missed cycles : 3). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471420 ms (missed cycles : 3).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.136ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.920ms + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.100ms + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168110 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168110 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.270ms + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.216ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477528 ms (missed cycles : 4). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477528 ms (missed cycles : 4).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.140ms + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429766 ms (missed cycles : 2). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429766 ms (missed cycles : 2).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.482ms + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.839309 ms (missed cycles : 6). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.839309 ms (missed cycles : 6).[0m ×2 + 32.53sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.53sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289920 ms (missed cycles : 4). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289920 ms (missed cycles : 4).[0m ×2 + 33.43sWARNobjective_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 + 33.43sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598639 ms (missed cycles : 2). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598639 ms (missed cycles : 2).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954994 ms (missed cycles : 2). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954994 ms (missed cycles : 2).[0m ×2 + 35.70sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.836ms + 36.19sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.311ms + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176276 ms (missed cycles : 4). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176276 ms (missed cycles : 4).[0m ×2 + 36.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.014ms + 36.99sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.186ms + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781735 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781735 ms (missed cycles : 2).[0m ×2 + 37.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.051ms + 38.19sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.021ms + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122852 ms (missed cycles : 2). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122852 ms (missed cycles : 2).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.137093 ms (missed cycles : 7). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.137093 ms (missed cycles : 7).[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056827 ms (missed cycles : 4). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056827 ms (missed cycles : 4).[0m ×2 + 40.61sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393451 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393451 ms (missed cycles : 2).[0m ×2 + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.044ms + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187588 ms (missed cycles : 2). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187588 ms (missed cycles : 2).[0m ×2 + 43.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.271ms + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481316 ms (missed cycles : 4). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481316 ms (missed cycles : 4).[0m ×2 + 44.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.197ms + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006703 ms (missed cycles : 4). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006703 ms (missed cycles : 4).[0m ×2 + 44.89sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.201ms + 45.49sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.250ms + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773957 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773957 ms (missed cycles : 2).[0m ×2 + 46.23sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.310ms + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407286 ms (missed cycles : 3). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407286 ms (missed cycles : 3).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.089ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786799 ms (missed cycles : 3). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786799 ms (missed cycles : 3).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.279ms + 48.72sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064138 ms (missed cycles : 4). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064138 ms (missed cycles : 4).[0m ×2 + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782879 ms (missed cycles : 3). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782879 ms (missed cycles : 3).[0m ×2 + 51.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934511 ms (missed cycles : 2). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934511 ms (missed cycles : 2).[0m ×2 + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339914 ms (missed cycles : 2). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339914 ms (missed cycles : 2).[0m ×2 + 52.39sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.277ms + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498822 ms (missed cycles : 5). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498822 ms (missed cycles : 5).[0m ×2 + 53.24sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.183ms + 54.09sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.108ms + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475138 ms (missed cycles : 3). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475138 ms (missed cycles : 3).[0m ×2 + 54.79sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.088ms + 55.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143948 ms (missed cycles : 3). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143948 ms (missed cycles : 3).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.291ms + 56.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402098 ms (missed cycles : 4). + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402098 ms (missed cycles : 4).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.843ms + 57.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046123 ms (missed cycles : 2). + 57.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046123 ms (missed cycles : 2).[0m ×2 + 57.99sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.029ms + 58.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633116 ms (missed cycles : 6). + 58.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.633116 ms (missed cycles : 6).[0m ×2 + 59.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419088 ms (missed cycles : 2). + 59.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419088 ms (missed cycles : 2).[0m ×2 + 59.39sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.132ms + 60.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463490 ms (missed cycles : 2). + 60.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463490 ms (missed cycles : 2).[0m ×2 + 60.79sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.146ms + 61.18sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 61.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676635 ms (missed cycles : 2). + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676635 ms (missed cycles : 2).[0m ×2 + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801983 ms (missed cycles : 2). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801983 ms (missed cycles : 2).[0m ×2 + 63.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525936 ms (missed cycles : 2). + 63.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525936 ms (missed cycles : 2).[0m ×2 + 64.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356108 ms (missed cycles : 4). + 64.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.356108 ms (missed cycles : 4).[0m ×2 + 65.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120297 ms (missed cycles : 4). + 65.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120297 ms (missed cycles : 4).[0m ×2 + 66.89sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.235ms + 66.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391300 ms (missed cycles : 3). + 66.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391300 ms (missed cycles : 3).[0m ×2 + 68.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307311 ms (missed cycles : 2). + 68.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307311 ms (missed cycles : 2).[0m ×2 + 68.19sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.048ms + 68.99sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.176ms + 69.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777176 ms (missed cycles : 4). + 69.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.777176 ms (missed cycles : 4).[0m ×2 + 69.89sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.134ms + 70.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588481 ms (missed cycles : 4). + 70.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588481 ms (missed cycles : 4).[0m ×2 + 70.69sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.172ms + 71.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 71.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 71.79sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 72.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 72.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 72.59sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 73.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 73.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 73.69sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 74.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 74.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 74.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 74.89sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 75.20sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 75.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 75.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 75.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 75.50sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 75.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 75.80sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 76.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 76.40sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 76.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 76.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 76.70sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 77.39sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 77.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 77.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 77.69sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.3s | 192 warnings · 194 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782402241.50015712 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.14sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.889ms + 0.61sWARNobjective_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 + 0.61sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.61sINFOobjective_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 + 0.61sINFOobjective_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 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782402242.05205488 seconds. ×3 + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.535ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.7911e-05 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.42sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.42sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.42sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.42sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2).[0m ×2 + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.187ms ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782402244.96221948 seconds ×3 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.336ms ×2 + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.282ms + 4.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782402245.50625324 seconds. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492327 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492327 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.167ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322803 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322803 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051119 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051119 ms (missed cycles : 4).[0m ×2 + 7.24sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.128ms + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126230 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126230 ms (missed cycles : 4).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.078ms ×3 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646155 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646155 ms (missed cycles : 3).[0m ×2 + 8.44sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.047ms + 8.94sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.018ms + 9.44sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.072ms + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068166 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068166 ms (missed cycles : 4).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.158ms + 10.44sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.055ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238700 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238700 ms (missed cycles : 2).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.310ms + 11.44sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.143ms + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226560 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226560 ms (missed cycles : 2).[0m ×2 + 12.05sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.893ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728166 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728166 ms (missed cycles : 2).[0m ×2 + 13.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.203ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585316 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585316 ms (missed cycles : 2).[0m ×2 + 13.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.046ms ×2 + 14.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.068ms + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941250 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941250 ms (missed cycles : 3).[0m ×2 + 14.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.065ms + 15.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.278ms + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030326 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030326 ms (missed cycles : 2).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.076ms + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.218ms + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791141 ms (missed cycles : 4). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791141 ms (missed cycles : 4).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.248ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.257ms + 17.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.168ms + 17.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.229ms + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.373ms + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.308ms + 17.44sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.381ms + 17.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.246ms ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439253 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439253 ms (missed cycles : 2).[0m ×2 + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.375ms + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.409ms + 18.24sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.317ms + 18.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.459ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974251 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974251 ms (missed cycles : 3).[0m ×2 + 19.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.644ms + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069248 ms (missed cycles : 4). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069248 ms (missed cycles : 4).[0m ×2 + 20.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.249ms + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.042ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720907 ms (missed cycles : 3). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720907 ms (missed cycles : 3).[0m ×2 + 21.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.059ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.023ms + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138465 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138465 ms (missed cycles : 2).[0m ×2 + 22.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.081ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.021ms + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394511 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394511 ms (missed cycles : 3).[0m ×2 + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.062ms + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559899 ms (missed cycles : 3). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559899 ms (missed cycles : 3).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.037ms + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.231ms + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153877 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153877 ms (missed cycles : 2).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.032ms + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.109ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368661 ms (missed cycles : 2). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368661 ms (missed cycles : 2).[0m ×2 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.070ms + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.198ms + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679314 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679314 ms (missed cycles : 2).[0m ×2 + 28.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.044ms + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.220019 ms (missed cycles : 4). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.220019 ms (missed cycles : 4).[0m ×2 + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.852ms + 29.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.110ms + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677114 ms (missed cycles : 4). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677114 ms (missed cycles : 4).[0m ×2 + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.142ms + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.096ms + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.169ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433685 ms (missed cycles : 4). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.433685 ms (missed cycles : 4).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.120ms + 31.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.122ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459851 ms (missed cycles : 3). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459851 ms (missed cycles : 3).[0m ×2 + 32.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.224ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295757 ms (missed cycles : 2). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295757 ms (missed cycles : 2).[0m ×2 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.385ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528112 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528112 ms (missed cycles : 3).[0m ×2 + 34.30sWARNobjective_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 + 34.30sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813819 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813819 ms (missed cycles : 2).[0m ×2 + 35.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.084ms + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930681 ms (missed cycles : 2). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930681 ms (missed cycles : 2).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756312 ms (missed cycles : 2). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756312 ms (missed cycles : 2).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078933 ms (missed cycles : 2). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078933 ms (missed cycles : 2).[0m ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161591 ms (missed cycles : 3). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161591 ms (missed cycles : 3).[0m ×2 + 38.94sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.094ms + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415271 ms (missed cycles : 6). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415271 ms (missed cycles : 6).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317593 ms (missed cycles : 2). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317593 ms (missed cycles : 2).[0m ×2 + 41.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.097ms + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699811 ms (missed cycles : 2). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699811 ms (missed cycles : 2).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840417 ms (missed cycles : 3). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840417 ms (missed cycles : 3).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396427 ms (missed cycles : 5). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.396427 ms (missed cycles : 5).[0m ×2 + 44.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.057ms + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237933 ms (missed cycles : 4). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237933 ms (missed cycles : 4).[0m ×2 + 46.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796014 ms (missed cycles : 5). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796014 ms (missed cycles : 5).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348299 ms (missed cycles : 6). + 47.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.348299 ms (missed cycles : 6).[0m ×2 + 47.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.079ms + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600304 ms (missed cycles : 3). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600304 ms (missed cycles : 3).[0m ×2 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976902 ms (missed cycles : 4). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976902 ms (missed cycles : 4).[0m ×2 + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.666219 ms (missed cycles : 7). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.666219 ms (missed cycles : 7).[0m ×2 + 51.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.144ms + 51.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352657 ms (missed cycles : 3). + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352657 ms (missed cycles : 3).[0m ×2 + 52.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045740 ms (missed cycles : 4). + 52.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045740 ms (missed cycles : 4).[0m ×2 + 53.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.799683 ms (missed cycles : 6). + 53.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.799683 ms (missed cycles : 6).[0m ×2 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789066 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789066 ms (missed cycles : 2).[0m ×2 + 54.74sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.365ms + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006588 ms (missed cycles : 4). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006588 ms (missed cycles : 4).[0m ×2 + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 59.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 59.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 59.94sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 60.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 60.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 60.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 60.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 60.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 60.72sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 60.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 61.44sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 62.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 62.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 62.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 62.44sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 62.84sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.8s | 186 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.67sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms + 7.05sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.389ms + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.374ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590215 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590215 ms (missed cycles : 2).[0m ×2 + 8.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.342ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520726 ms (missed cycles : 5). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520726 ms (missed cycles : 5).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.103ms + 9.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.128ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397530 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397530 ms (missed cycles : 3).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.132ms + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.146ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906500 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906500 ms (missed cycles : 2).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.130ms + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.243ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232535 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232535 ms (missed cycles : 2).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.115ms + 12.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.967ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537978 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537978 ms (missed cycles : 3).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.081ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740479 ms (missed cycles : 5). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740479 ms (missed cycles : 5).[0m ×2 + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.163ms + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.940ms + 14.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.182ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230490 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230490 ms (missed cycles : 3).[0m ×2 + 15.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.108ms + 15.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.196ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561893 ms (missed cycles : 4). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561893 ms (missed cycles : 4).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.021ms + 16.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.092ms + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261604 ms (missed cycles : 4). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261604 ms (missed cycles : 4).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.042ms ×2 + 17.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.995ms + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093316 ms (missed cycles : 4). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093316 ms (missed cycles : 4).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.061ms + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704645 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704645 ms (missed cycles : 2).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.078ms + 19.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.992ms + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142752 ms (missed cycles : 4). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142752 ms (missed cycles : 4).[0m ×2 + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.942ms + 20.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.001ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941388 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941388 ms (missed cycles : 2).[0m ×2 + 21.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.956ms + 21.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.020ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429269 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429269 ms (missed cycles : 4).[0m ×2 + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.032ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.885ms + 23.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.973ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414533 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414533 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.004ms ×2 + 24.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.102ms + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387446 ms (missed cycles : 2). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387446 ms (missed cycles : 2).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.155ms + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316206 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316206 ms (missed cycles : 2).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.040ms + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.140ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512819 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512819 ms (missed cycles : 3).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.188ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729749 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729749 ms (missed cycles : 2).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.098ms + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.968ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340334 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340334 ms (missed cycles : 2).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.997ms + 29.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.011ms + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477349 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477349 ms (missed cycles : 3).[0m ×2 + 29.43sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.468ms + 30.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.071ms + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778689 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778689 ms (missed cycles : 2).[0m ×2 + 30.71sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.027ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.256ms + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215972 ms (missed cycles : 2). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215972 ms (missed cycles : 2).[0m ×2 + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359234 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359234 ms (missed cycles : 3).[0m ×2 + 32.93sWARNobjective_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 + 32.93sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574177 ms (missed cycles : 4). + 33.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574177 ms (missed cycles : 4).[0m ×2 + 34.11sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.154ms + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950973 ms (missed cycles : 2). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950973 ms (missed cycles : 2).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780868 ms (missed cycles : 2). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780868 ms (missed cycles : 2).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890244 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890244 ms (missed cycles : 2).[0m ×2 + 37.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.055ms + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500295 ms (missed cycles : 2). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500295 ms (missed cycles : 2).[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862323 ms (missed cycles : 3). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862323 ms (missed cycles : 3).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.034ms + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.038716 ms (missed cycles : 7). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.038716 ms (missed cycles : 7).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786186 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786186 ms (missed cycles : 2).[0m ×2 + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258537 ms (missed cycles : 3). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258537 ms (missed cycles : 3).[0m ×2 + 42.71sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.084ms + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212981 ms (missed cycles : 4). + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212981 ms (missed cycles : 4).[0m ×2 + 44.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012829 ms (missed cycles : 4). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012829 ms (missed cycles : 4).[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875163 ms (missed cycles : 3). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875163 ms (missed cycles : 3).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053358 ms (missed cycles : 3). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053358 ms (missed cycles : 3).[0m ×2 + 46.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.060ms + 47.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452692 ms (missed cycles : 6). + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452692 ms (missed cycles : 6).[0m ×2 + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.344143 ms (missed cycles : 4). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.344143 ms (missed cycles : 4).[0m ×2 + 49.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 0.835ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511622 ms (missed cycles : 3). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511622 ms (missed cycles : 3).[0m ×2 + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943804 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943804 ms (missed cycles : 2).[0m ×2 + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.191138 ms (missed cycles : 7). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.191138 ms (missed cycles : 7).[0m ×2 + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670027 ms (missed cycles : 2). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670027 ms (missed cycles : 2).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979462 ms (missed cycles : 2). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979462 ms (missed cycles : 2).[0m ×2 + 53.91sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.206ms + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827416 ms (missed cycles : 5). + 54.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.827416 ms (missed cycles : 5).[0m ×2 + 55.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954007 ms (missed cycles : 4). + 55.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954007 ms (missed cycles : 4).[0m ×2 + 56.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626528 ms (missed cycles : 3). + 56.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626528 ms (missed cycles : 3).[0m ×2 + 57.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.207ms + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874018 ms (missed cycles : 3). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874018 ms (missed cycles : 3).[0m ×2 + 58.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782402528.74536586 seconds ×3 + 58.52sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.982ms + 58.81sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.612ms + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778623 ms (missed cycles : 5). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778623 ms (missed cycles : 5).[0m ×2 + 59.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782402529.29279971 seconds. ×3 + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.525ms + 59.35sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.53sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.494ms + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.903ms + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683143 ms (missed cycles : 3). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683143 ms (missed cycles : 3).[0m ×2 + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.446ms + 60.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142914 ms (missed cycles : 2). + 60.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142914 ms (missed cycles : 2).[0m ×2 + 61.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.350ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.2s | 183 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.719ms + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.380ms + 0.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.472ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.428ms + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.229ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.482ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5).[0m ×2 + 3.61sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782402337.26958919 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.626ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 13.833ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.396ms + 4.22sWARNobjective_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 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.22sINFOobjective_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 + 4.22sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782402337.83626842 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.358ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (1.129e-06 s). ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.080ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.675ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.020ms ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.116ms + 5.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.966ms + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.305ms + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.999ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796493 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796493 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.671ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770364 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770364 ms (missed cycles : 5).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.179ms + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.068ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544331 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544331 ms (missed cycles : 3).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.746ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.840ms + 10.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.729ms + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.127ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678510 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678510 ms (missed cycles : 2).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.168ms + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.673ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562534 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562534 ms (missed cycles : 4).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.580ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.652ms + 12.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.837ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536711 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536711 ms (missed cycles : 4).[0m ×2 + 13.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.584ms + 13.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.721ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731525 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731525 ms (missed cycles : 2).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.938ms + 14.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.735ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971936 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971936 ms (missed cycles : 2).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.824ms + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.357ms + 15.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.147ms + 15.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.282ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143402 ms (missed cycles : 5). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143402 ms (missed cycles : 5).[0m ×2 + 16.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 12.098ms + 16.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.719ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468271 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468271 ms (missed cycles : 3).[0m ×2 + 17.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.441ms + 17.72sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.800ms + 17.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.341ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409339 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409339 ms (missed cycles : 2).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.506ms + 18.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.222ms + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969356 ms (missed cycles : 3). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969356 ms (missed cycles : 3).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.070ms + 19.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.084ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.061646 ms (missed cycles : 5). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.061646 ms (missed cycles : 5).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.789ms + 20.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.836ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024571 ms (missed cycles : 4). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024571 ms (missed cycles : 4).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.992ms + 21.72sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.969ms + 21.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.795ms + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817155 ms (missed cycles : 3). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817155 ms (missed cycles : 3).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.778ms + 22.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.746ms + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403887 ms (missed cycles : 6). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403887 ms (missed cycles : 6).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.773ms + 23.72sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.299ms + 23.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.523ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407679 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407679 ms (missed cycles : 3).[0m ×2 + 24.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.323ms + 24.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.726ms + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637200 ms (missed cycles : 6). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.637200 ms (missed cycles : 6).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.729ms + 25.87sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.335ms + 26.01sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.557ms + 26.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.752ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970242 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970242 ms (missed cycles : 3).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.961ms + 27.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.507ms + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221888 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221888 ms (missed cycles : 2).[0m ×2 + 27.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.765ms + 28.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.215ms + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788550 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788550 ms (missed cycles : 2).[0m ×2 + 28.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.481ms + 28.72sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.941ms + 28.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.613ms + 29.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.520ms + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670303 ms (missed cycles : 5). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670303 ms (missed cycles : 5).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.514ms + 30.27sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.330ms + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739600 ms (missed cycles : 5). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.739600 ms (missed cycles : 5).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.847ms + 31.01sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.134ms + 31.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.462ms + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719248 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719248 ms (missed cycles : 2).[0m ×2 + 32.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.448ms + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395873 ms (missed cycles : 2). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395873 ms (missed cycles : 2).[0m ×2 + 33.25sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936060 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936060 ms (missed cycles : 2).[0m ×2 + 33.82sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.229ms + 33.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.87sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 33.98sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.664ms + 34.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.079ms + 34.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.184ms + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855914 ms (missed cycles : 3). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855914 ms (missed cycles : 3).[0m ×2 + 35.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.972ms + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112287 ms (missed cycles : 2). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112287 ms (missed cycles : 2).[0m ×2 + 35.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.835ms + 36.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.465ms + 36.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.470ms + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218441 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218441 ms (missed cycles : 2).[0m ×2 + 37.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.563ms + 37.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.292ms + 37.98sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.358ms + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.054132 ms (missed cycles : 7). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.054132 ms (missed cycles : 7).[0m ×2 + 38.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.306ms + 39.07sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.323ms + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500058 ms (missed cycles : 2). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500058 ms (missed cycles : 2).[0m ×2 + 40.21sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.586ms + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783061 ms (missed cycles : 2). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783061 ms (missed cycles : 2).[0m ×2 + 40.27sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.011ms + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268436 ms (missed cycles : 2). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268436 ms (missed cycles : 2).[0m ×2 + 42.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.458ms + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138545 ms (missed cycles : 4). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138545 ms (missed cycles : 4).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.343ms + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693418 ms (missed cycles : 2). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693418 ms (missed cycles : 2).[0m ×2 + 43.57sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.563ms + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093034 ms (missed cycles : 2). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093034 ms (missed cycles : 2).[0m ×2 + 44.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.358ms + 45.21sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.608ms + 45.37sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.385ms + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853426 ms (missed cycles : 2). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853426 ms (missed cycles : 2).[0m ×2 + 46.08sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.17sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 5.894ms + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238311 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238311 ms (missed cycles : 2).[0m ×2 + 46.98sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.092ms + 47.51sINFOamclParticle filter update iteration stats: 4663 particles 91 points - 5.419ms + 47.77sINFOamclParticle filter update iteration stats: 3793 particles 91 points - 4.854ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464572 ms (missed cycles : 4). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464572 ms (missed cycles : 4).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144114 ms (missed cycles : 4). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144114 ms (missed cycles : 4).[0m ×2 + 48.88sINFOamclParticle filter update iteration stats: 3222 particles 91 points - 4.044ms + 49.81sINFOamclParticle filter update iteration stats: 2857 particles 91 points - 3.363ms + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535597 ms (missed cycles : 3). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535597 ms (missed cycles : 3).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470145 ms (missed cycles : 3). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470145 ms (missed cycles : 3).[0m ×2 + 51.67sINFOamclParticle filter update iteration stats: 2627 particles 91 points - 3.151ms + 52.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652634 ms (missed cycles : 4). + 52.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652634 ms (missed cycles : 4).[0m ×2 + 52.21sINFOamclParticle filter update iteration stats: 2061 particles 91 points - 2.984ms + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863622 ms (missed cycles : 5). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863622 ms (missed cycles : 5).[0m ×2 + 53.77sINFOamclParticle filter update iteration stats: 1428 particles 91 points - 2.620ms + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370822 ms (missed cycles : 2). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370822 ms (missed cycles : 2).[0m ×2 + 55.07sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 2.094ms + 55.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155427 ms (missed cycles : 2). + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155427 ms (missed cycles : 2).[0m ×2 + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236462 ms (missed cycles : 2). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236462 ms (missed cycles : 2).[0m ×2 + 56.47sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.457ms + 57.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883764 ms (missed cycles : 3). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883764 ms (missed cycles : 3).[0m ×2 + 57.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782402391.48641634 seconds ×3 + 57.97sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.608ms + 58.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.248ms + 58.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782402392.03525162 seconds. ×3 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006367 ms (missed cycles : 2). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006367 ms (missed cycles : 2).[0m ×2 + 58.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.361ms + 58.75sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 58.98sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.722ms + 59.27sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.521ms + 59.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692986 ms (missed cycles : 5). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692986 ms (missed cycles : 5).[0m ×2 + 59.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.549ms + 59.71sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.329ms + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397111 ms (missed cycles : 3). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397111 ms (missed cycles : 3).[0m ×2 + 60.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.377ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 168 warnings · 256 info |
+ 0.00sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.01sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.01sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.01sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.01sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.03sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.07sINFOros2Loaded vacuum_gripper ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.07sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.09sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.09sINFOros2Configured and activated vacuum_gripper ×2 + 0.41sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.41sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.41sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.41sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-12process has finished cleanly [pid 9291] ×2 + 0.48sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.48sINFOros2Loaded platform_velocity_controller ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.48sINFOplatform_velocity_controllerconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.49sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9290] ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.84sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.89sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.90sINFOros2Loaded velocity_force_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.16sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.16sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.17sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.51sINFOros2-15process has finished cleanly [pid 9294] ×2 + 1.77sWARNobjective_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 + 1.77sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.77sINFOobjective_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 + 1.77sINFOobjective_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 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.78sINFOmove_groupClearing octomap...[0m ×2 + 1.78sINFOmove_groupOctomap cleared.[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 2.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 3.62sINFOobjective_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 + 3.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.26sWARNobjective_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 + 5.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852985 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852985 ms (missed cycles : 3).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006417 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006417 ms (missed cycles : 4).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911321 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911321 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106832 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106832 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928220 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928220 ms (missed cycles : 4).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573424 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573424 ms (missed cycles : 3).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299534 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299534 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890027 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890027 ms (missed cycles : 2).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704220 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704220 ms (missed cycles : 2).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458923 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458923 ms (missed cycles : 3).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667026 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667026 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986828 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986828 ms (missed cycles : 3).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355385 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355385 ms (missed cycles : 3).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078623 ms (missed cycles : 3). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078623 ms (missed cycles : 3).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981106 ms (missed cycles : 5). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981106 ms (missed cycles : 5).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454082 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454082 ms (missed cycles : 3).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115082 ms (missed cycles : 4). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115082 ms (missed cycles : 4).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138570 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138570 ms (missed cycles : 2).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1470 particles 91 points - 2.738ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483174 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483174 ms (missed cycles : 3).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167868 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167868 ms (missed cycles : 2).[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465453 ms (missed cycles : 4). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.465453 ms (missed cycles : 4).[0m ×2 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517724 ms (missed cycles : 3). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517724 ms (missed cycles : 3).[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681369 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681369 ms (missed cycles : 4).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941830 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941830 ms (missed cycles : 2).[0m ×2 + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991462 ms (missed cycles : 3). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991462 ms (missed cycles : 3).[0m ×2 + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596107 ms (missed cycles : 3). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596107 ms (missed cycles : 3).[0m ×2 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397589 ms (missed cycles : 3). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397589 ms (missed cycles : 3).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441310 ms (missed cycles : 4). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.441310 ms (missed cycles : 4).[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871747 ms (missed cycles : 3). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871747 ms (missed cycles : 3).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981067 ms (missed cycles : 3). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981067 ms (missed cycles : 3).[0m ×2 + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531634 ms (missed cycles : 3). + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531634 ms (missed cycles : 3).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922589 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922589 ms (missed cycles : 2).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629579 ms (missed cycles : 5). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629579 ms (missed cycles : 5).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415017 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415017 ms (missed cycles : 3).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361311 ms (missed cycles : 3). + 42.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361311 ms (missed cycles : 3).[0m ×2 + 43.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5).[0m ×2 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2).[0m ×2 + 47.15sINFOjoint_trajectory_controllerGoal reached, success! + 47.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782402241.50015712 seconds ×3 + 47.25sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.889ms + 47.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782402242.05205488 seconds. ×3 + 48.15sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.535ms + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3).[0m ×2 + 48.50sINFOobjective_server_nodeFound path in 0 iterations (2.7911e-05 s). ×2 + 48.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2).[0m ×2 + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.187ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4). + 50.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 111 warnings · 174 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444147 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444147 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.923ms + 1.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.297ms + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.946ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252750 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252750 ms (missed cycles : 2).[0m ×2 + 2.20sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.20sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.21sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782402305.84413648 seconds ×3 + 2.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.944ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111875 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111875 ms (missed cycles : 4).[0m ×2 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.901ms + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.792ms + 3.76sWARNobjective_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 + 3.76sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.76sINFOobjective_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 + 3.76sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782402307.39945817 seconds. ×3 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.944ms + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.839ms + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466419 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466419 ms (missed cycles : 3).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.284ms + 4.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.803ms + 5.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.23sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497637 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497637 ms (missed cycles : 3).[0m ×2 + 5.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.256ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103426 ms (missed cycles : 4). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103426 ms (missed cycles : 4).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.345ms + 7.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.771ms + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387475 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387475 ms (missed cycles : 3).[0m ×2 + 8.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.541ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494696 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494696 ms (missed cycles : 3).[0m ×2 + 8.95sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.464ms + 9.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.340ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601208 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601208 ms (missed cycles : 4).[0m ×2 + 10.35sINFOamclParticle filter update iteration stats: 4239 particles 91 points - 6.716ms + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.256ms + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.957ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881282 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881282 ms (missed cycles : 2).[0m ×2 + 11.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.440ms + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.448ms + 11.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.341ms + 11.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.998ms + 11.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.598ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510884 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510884 ms (missed cycles : 3).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.376ms + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.160ms + 12.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.141ms + 12.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.761ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.867ms + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122166 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122166 ms (missed cycles : 4).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.567ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302554 ms (missed cycles : 4). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302554 ms (missed cycles : 4).[0m ×2 + 14.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.438ms + 14.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.071ms + 14.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 5.907ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150906 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150906 ms (missed cycles : 2).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.976ms + 15.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.261ms + 16.05sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.755ms + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358952 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358952 ms (missed cycles : 4).[0m ×2 + 16.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.568ms + 16.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.827ms + 17.05sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.213ms + 17.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.028ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700266 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700266 ms (missed cycles : 2).[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.992ms ×2 + 17.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.777ms + 17.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.002ms + 18.05sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.727ms + 18.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.304ms + 18.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.681ms + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603947 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603947 ms (missed cycles : 2).[0m ×2 + 18.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.977ms + 18.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.515ms + 19.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.059ms + 19.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.887ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686891 ms (missed cycles : 5). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686891 ms (missed cycles : 5).[0m ×2 + 19.38sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.595ms + 19.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.037ms + 19.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.978ms + 20.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.958ms + 20.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.029ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988361 ms (missed cycles : 3). + 20.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.431ms + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988361 ms (missed cycles : 3).[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 12.433ms + 20.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.352ms + 21.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.574ms + 21.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.965ms + 21.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.674ms + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249865 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249865 ms (missed cycles : 2).[0m ×2 + 21.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.759ms + 21.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.954ms + 21.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.303ms + 21.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.270ms + 22.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.945ms + 22.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.726ms + 22.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.489ms + 22.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.767ms + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816140 ms (missed cycles : 3). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816140 ms (missed cycles : 3).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.465ms + 22.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.058ms + 23.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.592ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708551 ms (missed cycles : 5). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708551 ms (missed cycles : 5).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.012ms + 24.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.438ms + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977305 ms (missed cycles : 2). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977305 ms (missed cycles : 2).[0m ×2 + 24.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.607ms + 25.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.372ms + 25.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.117ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900642 ms (missed cycles : 5). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900642 ms (missed cycles : 5).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 3752 particles 91 points - 5.280ms + 26.64sINFOamclParticle filter update iteration stats: 2721 particles 91 points - 3.967ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409222 ms (missed cycles : 6). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409222 ms (missed cycles : 6).[0m ×2 + 27.14sINFOamclParticle filter update iteration stats: 1977 particles 91 points - 2.832ms + 27.64sINFOamclParticle filter update iteration stats: 1353 particles 91 points - 2.058ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779090 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779090 ms (missed cycles : 2).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1151 particles 91 points - 1.533ms + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.619ms + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788318 ms (missed cycles : 2). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788318 ms (missed cycles : 2).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.497ms + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.195ms + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2).[0m ×2 + 30.04sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.719ms + 30.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.380ms + 30.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.472ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5).[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.428ms + 31.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.229ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2).[0m ×2 + 32.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.482ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5).[0m ×2 + 33.63sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782402337.26958919 seconds ×3 + 33.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.626ms + 34.06sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 13.833ms + 34.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.396ms + 34.20sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782402337.83626842 seconds. ×3 + 34.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.358ms + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2).[0m ×2 + 34.49sINFOobjective_server_nodeFound path in 0 iterations (1.129e-06 s). ×2 + 34.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.080ms + 34.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.675ms + 35.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.020ms + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4).[0m ×2 + 35.39sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.116ms + 35.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.966ms + 36.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.305ms + 36.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.999ms + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.4s | 63 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954007 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954007 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626528 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626528 ms (missed cycles : 3).[0m ×2 + 1.84sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.207ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874018 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874018 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782402528.74536586 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.96sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.982ms + 3.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.612ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778623 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.778623 ms (missed cycles : 5).[0m ×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 ×3 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 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 ×6 + 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 ×6 + 3.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782402529.29279971 seconds. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.525ms + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.494ms + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.903ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683143 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683143 ms (missed cycles : 3).[0m ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.446ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142914 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142914 ms (missed cycles : 2).[0m ×2 + 6.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.350ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.174ms + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.563ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503901 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503901 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077022 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077022 ms (missed cycles : 2).[0m ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (1.23e-06 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (6.91e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (9.61e-07 s). ×2 + 8.37sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.113ms + 8.44sINFOobjective_server_nodeFound path in 29 iterations (0.0211639 s). ×2 + 8.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.055ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482552 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482552 ms (missed cycles : 3).[0m ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961604 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961604 ms (missed cycles : 2).[0m ×2 + 10.47sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.812ms + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.578ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360223 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360223 ms (missed cycles : 4).[0m ×2 + 11.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.829ms + 11.47sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.403ms + 11.55sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.403ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601099 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601099 ms (missed cycles : 3).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.416ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.647ms + 12.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.543ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.708ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2).[0m ×2 + 12.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.883ms + 13.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.665ms + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.920ms + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.781ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5).[0m ×2 + 14.85sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.982ms + 15.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782402541.11429000 seconds ×3 + 15.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.231ms + 15.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.089ms + 15.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782402541.69338536 seconds. ×3 + 15.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.87sINFOmove_groupClearing octomap...[0m ×2 + 15.87sINFOmove_groupOctomap cleared.[0m ×2 + 15.95sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.772ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5).[0m ×2 + 16.17sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.126ms + 16.25sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.132ms + 16.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782402542.16498232 seconds ×3 + 16.37sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.777ms + 16.45sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.152ms + 16.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.719ms + 16.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782402542.70719290 seconds. ×3 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6).[0m ×2 + 17.05sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 12.013ms + 17.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782402543.08739972 seconds ×3 + 17.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.849ms + 17.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.313ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3).[0m ×2 + 18.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.921ms | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 57 warnings · 99 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370822 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370822 ms (missed cycles : 2).[0m ×2 + 0.85sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 2.094ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155427 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155427 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236462 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236462 ms (missed cycles : 2).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.457ms + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883764 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883764 ms (missed cycles : 3).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782402391.48641634 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.608ms + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.248ms + 4.20sWARNobjective_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 + 4.20sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.20sINFOobjective_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 + 4.20sINFOobjective_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 + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782402392.03525162 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006367 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006367 ms (missed cycles : 2).[0m ×2 + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.361ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.722ms + 5.06sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.521ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692986 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.692986 ms (missed cycles : 5).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.549ms + 5.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.329ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397111 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397111 ms (missed cycles : 3).[0m ×2 + 6.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.377ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306349 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306349 ms (missed cycles : 2).[0m ×2 + 8.06sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.804ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092072 ms (missed cycles : 7). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092072 ms (missed cycles : 7).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.779ms + 9.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.038ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543541 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543541 ms (missed cycles : 3).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.686ms + 10.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.318ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276392 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276392 ms (missed cycles : 2).[0m ×2 + 10.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.850ms + 11.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.416ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574856 ms (missed cycles : 3). + 11.76sINFOamclParticle filter update iteration stats: 4962 particles 91 points - 8.560ms + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574856 ms (missed cycles : 3).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 4477 particles 91 points - 6.772ms + 12.75sINFOamclParticle filter update iteration stats: 3876 particles 91 points - 5.086ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236000 ms (missed cycles : 5). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236000 ms (missed cycles : 5).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 3326 particles 91 points - 4.439ms + 13.75sINFOamclParticle filter update iteration stats: 2794 particles 91 points - 4.636ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833834 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833834 ms (missed cycles : 2).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 2397 particles 91 points - 4.065ms + 14.62sINFOjoint_trajectory_controllerGot request to cancel goal + 14.62sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.62sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.62sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782402402.44985080 seconds ×3 + 14.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 5.857ms + 14.96sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.748ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.245736 ms (missed cycles : 7). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.245736 ms (missed cycles : 7).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782402402.99741936 seconds. ×3 + 15.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.481ms + 15.47sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.181ms + 15.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.732ms + 16.20sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.898ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938493 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938493 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.354ms + 16.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.06sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.297ms + 17.17sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.405ms + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461982 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461982 ms (missed cycles : 3).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.478ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 75 errors · 36 warnings · 408 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.883ms + 0.64sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.665ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3).[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.920ms + 1.96sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.781ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5).[0m ×2 + 2.14sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.982ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782402541.11429000 seconds ×3 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.231ms + 2.94sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.089ms + 3.11sWARNobjective_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 + 3.11sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.11sINFOobjective_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 + 3.11sINFOobjective_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 + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782402541.69338536 seconds. ×3 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.772ms + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5).[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.126ms + 3.54sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.132ms + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782402542.16498232 seconds ×3 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.777ms + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.152ms + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.719ms + 4.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782402542.70719290 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 12.013ms + 4.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782402543.08739972 seconds ×3 + 4.64sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.849ms + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.94sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.313ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.921ms + 6.75sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.138ms + 6.84sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.614ms + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813911 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813911 ms (missed cycles : 3).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293951 ms (missed cycles : 4). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293951 ms (missed cycles : 4).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.914ms + 8.24sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.758ms + 8.65sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.593ms + 8.74sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.217ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557179 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557179 ms (missed cycles : 3).[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.105ms + 9.54sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.632ms + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838470 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838470 ms (missed cycles : 2).[0m ×2 + 10.32sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 10.35sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.001ms + 10.36sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 10.38sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 10.42sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 10.43sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.695ms + 10.45sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 10.46sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.46sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 10.48sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 10.50sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 10.51sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 10.53sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 10.54sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.55sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 10.57sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 10.57sINFOcontroller_managerShutdown request received.... + 10.57sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.57sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.57sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.57sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.57sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.57sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.57sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.57sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.57sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.57sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.57sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.57sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.57sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.57sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.57sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.57sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.57sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.57sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.57sINFOcontroller_managerShutting down the controller manager. + 10.58sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.60sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 10.60sERRORmove_group-19process has died [pid 9298, 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_sdyc8_a4 --params-file /tmp/launch_params_hfxt356e --params-file /tmp/launch_params__898sjdg --params-file /tmp/launch_params_aehlpanl --params-file /tmp/launch_params_xyzf2wb8 --params-file /tmp/launch_params_63jl74wu --params-file /tmp/launch_params_ejvz2vnq --params-file /tmp/launch_params_bzfg7clp --params-file /tmp/launch_params_9mbw_rxk']. ×2 + 10.61sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 10.62sINFOweb_video_server-30process has finished cleanly [pid 9388] ×2 + 10.63sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.64sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.66sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.66sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.66sINFOcontroller_serverCleaning up + 10.66sINFOlocal_costmap.local_costmapCleaning up + 10.66sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.66sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.66sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.66sINFOui_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 + 10.66sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.66sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.66sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.66sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.66sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.66sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.66sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.66sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.67sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.67sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.67sERRORmove_groupStack trace (most recent call last) in thread 9864: ×2 + 10.67sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.67sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f89f08f7a63, in __clone ×2 + 10.67sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f89f086aaa3, in ×2 + 10.67sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f89f0afcdb3, in ×2 + 10.67sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f89f11511c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.67sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f89f0e6f4d0, in rclcpp::Rate::sleep() ×2 + 10.67sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f89f0dc2a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.67sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f89f0d87a71, in ×2 + 10.67sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f89f0acb390, in __cxa_throw ×2 + 10.67sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f89f0ab5a54, in std::terminate() ×2 + 10.67sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f89f0acb0d9, in ×2 + 10.67sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f89f0ab5ff4, in ×2 + 10.67sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f89f07f68fe, in abort ×2 + 10.67sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f89f081327d, in raise ×2 + 10.67sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f89f086cb2c, in pthread_kill ×2 + 10.67sERRORmove_groupAborted (Signal sent by tkill() 9298 0) ×2 + 10.67sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.67sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.67sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.67sINFOobjective_server_node[2026-06-25 15:49:09.108] [moveit_pro_license] [info] ×2 + 10.67sINFOobjective_server_node************************************************* ×4 + 10.67sINFOobjective_server_node* MoveIt Pro License ×2 + 10.67sINFOobjective_server_node* Application has successfully terminated ×2 + 10.67sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.67sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.67sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.67sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.67sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.67sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.68sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.68sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.68sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.68sINFOodom_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 + 10.68sINFOodom_qos_relay.pymain() ×2 + 10.68sINFOodom_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 + 10.68sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.68sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.68sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.68sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.68sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.68sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.68sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.68sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.68sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acd448f6a4, in _start ×2 + 10.68sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ec43a428a, in __libc_start_main ×2 + 10.68sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ec43a41d0, in ×2 + 10.68sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ec43c1bbd, in exit ×2 + 10.68sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ec43c1a75, in ×2 + 10.68sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6ec48934a2, in spdlog::details::registry::~registry() ×2 + 10.68sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6ec489e69d, 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 + 10.68sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6ec4898965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.68sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acd4496315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.68sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acd44955a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.68sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acd4491b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.68sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55acd448fd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.68sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ec4f3a454, in rclcpp::Node::~Node() ×2 + 10.68sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ec4ef5515, in ×2 + 10.68sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ec4f38d20, in ×2 + 10.68sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ec4f38c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.68sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ec4ef55d9, in ×2 + 10.68sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ec4efa161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.68sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f6e70404120]) ×2 + 10.68sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 10.70sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.70sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.70sINFOsmoother_serverCleaning up + 10.71sERRORobjective_server_node_main-24process has died [pid 9347, 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_b2ino9e1 --params-file /tmp/launch_params_h8wepifn --params-file /tmp/launch_params_q0kh14tk --params-file /tmp/launch_params_jdlbk_t5 --params-file /tmp/launch_params_08s3adea --params-file /tmp/launch_params_dfny57_o --params-file /tmp/launch_params_t3jt5qhw --params-file /tmp/launch_params_0qcc1m_0 --params-file /tmp/launch_params_lpve7wlv']. ×2 + 10.71sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 10.71sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.71sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.71sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.71sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.71sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.71sINFOmap_serverDeactivating + 10.71sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.72sINFOmap_serverCleaning up + 10.72sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.72sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.72sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.72sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.72sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.72sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.74sERRORamclThe bond connection to the lifecycle manager has been broken + 10.75sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.75sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.75sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.75sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.75sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.78sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.78sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.79sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.29sERRORcomponent_container_isolated-1process has died [pid 9212, 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_19a85a7j --params-file /tmp/launch_params_o9dyin3x -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.42sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9387] ×2 + 11.42sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.53sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9346] ×2 + 11.53sINFOexecute_objective_bridge-26process has finished cleanly [pid 9365] ×2 + 11.54sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9302] ×2 + 11.55sERRORui_teleop_bridge-27process has died [pid 9372, 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_r7up5k1p']. ×2 + 11.58sINFOparameter_manager_node-20process has finished cleanly [pid 9299] ×2 + 11.61sINFOwaypoint_manager_node-21process has finished cleanly [pid 9300] ×2 + 11.63sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9217] ×2 + 11.64sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9216] ×2 + 11.67sINFOstatic_transform_publisher-3process has finished cleanly [pid 9214] ×2 + 11.68sINFOstatic_transform_publisher-2process has finished cleanly [pid 9213] ×2 + 11.71sERRORodom_qos_relay.py-4process has died [pid 9215, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.70sINFOcomponent_container_mt-25process has finished cleanly [pid 9349] ×2 + 13.23sINFOweb_bridge-28process has finished cleanly [pid 9386] ×2 + 13.23sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 13.34sINFOros2_control_node-7process has finished cleanly [pid 9218] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 39 warnings · 86 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 3.71sWARNobjective_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 ×2 + 3.71sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444147 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444147 ms (missed cycles : 3).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.923ms + 7.36sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.297ms + 7.46sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.946ms + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252750 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252750 ms (missed cycles : 2).[0m ×2 + 7.72sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782402305.84413648 seconds ×3 + 8.36sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.944ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111875 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111875 ms (missed cycles : 4).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.901ms + 9.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.792ms + 9.27sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782402307.39945817 seconds. ×3 + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.944ms + 9.57sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.839ms + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466419 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466419 ms (missed cycles : 3).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.284ms + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.803ms + 10.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497637 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497637 ms (missed cycles : 3).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.256ms | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 36 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782402241.50015712 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.889ms + 3.77sWARNobjective_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 + 3.77sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.77sINFOobjective_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 + 3.77sINFOobjective_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 + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782402242.05205488 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.535ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.7911e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.187ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782402244.96221948 seconds ×3 + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.336ms + 7.00sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.282ms + 7.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782402245.50625324 seconds. ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492327 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492327 ms (missed cycles : 4).[0m ×2 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.90sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.167ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322803 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322803 ms (missed cycles : 2).[0m ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051119 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051119 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 30 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601099 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.416ms + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.647ms + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.543ms + 0.96sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.708ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.883ms + 1.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.665ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.920ms + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.781ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.982ms + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782402541.11429000 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.231ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.089ms + 4.18sWARNobjective_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 + 4.18sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.18sINFOobjective_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 + 4.18sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782402541.69338536 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.772ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5).[0m ×2 + 4.53sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.126ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.132ms + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782402542.16498232 seconds ×3 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.777ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.152ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.719ms + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782402542.70719290 seconds. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 12.013ms + 5.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782402543.08739972 seconds ×3 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.849ms + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.313ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.921ms + 7.82sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.138ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.614ms + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813911 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813911 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 3.71sWARNobjective_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 + 3.71sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.719ms + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.380ms + 0.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.472ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.428ms + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.229ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.482ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5).[0m ×2 + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782402337.26958919 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.626ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 13.833ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.396ms + 4.22sWARNobjective_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 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_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 + 4.22sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782402337.83626842 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.358ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (1.129e-06 s). ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.080ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.675ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.020ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.116ms + 5.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.966ms + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.305ms + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.999ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 286 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782402241.50015712 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.889ms + 3.77sWARNobjective_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 + 3.77sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.77sINFOobjective_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 + 3.77sINFOobjective_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 + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782402242.05205488 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.535ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.7911e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.187ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331657 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709647 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748530 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGoal reached, success! + 3.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782402241.50015712 seconds ×3 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.889ms + 3.77sWARNobjective_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 + 3.77sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.77sINFOobjective_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 + 3.77sINFOobjective_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 + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782402242.05205488 seconds. ×3 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.535ms + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.7911e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOjoint_trajectory_controllerReceived new action goal + 4.58sINFOjoint_trajectory_controllerAccepted new action goal + 4.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.187ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 286 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964742 ms (missed cycles : 2).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782402241.50015712 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.14sINFOamclParticle filter update iteration stats: 1204 particles 91 points - 1.889ms + 0.61sWARNobjective_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 + 0.61sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.61sINFOobjective_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 + 0.61sINFOobjective_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 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782402242.05205488 seconds. ×3 + 1.04sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.535ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767069 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.7911e-05 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968787 ms (missed cycles : 2).[0m ×2 + 2.54sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.187ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045486 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782402244.96221948 seconds ×3 + 3.64sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.336ms + 3.84sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.282ms + 4.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782402245.50625324 seconds. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492327 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492327 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.74sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.167ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322803 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322803 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051119 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051119 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 3.71sWARNobjective_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 + 3.71sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 3.71sWARNobjective_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 + 3.71sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 3.71sWARNobjective_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 + 3.71sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047375 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240811 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.039ms + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607143 ms (missed cycles : 4).[0m ×2 + 3.14sINFOjoint_trajectory_controllerGoal reached, success! + 3.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782402301.28639412 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 4.275ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470706 ms (missed cycles : 3).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.392ms + 3.71sWARNobjective_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 + 3.71sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.71sINFOobjective_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 + 3.71sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782402301.84397268 seconds. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.373ms + 4.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.330ms + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395110 ms (missed cycles : 4).[0m ×2 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.589ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246586 ms (missed cycles : 2).[0m ×2 + 5.66sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.236ms + 5.76sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.708ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.885ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.719ms + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.380ms + 0.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.472ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.428ms + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.229ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.482ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5).[0m ×2 + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782402337.26958919 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.626ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 13.833ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.396ms + 4.22sWARNobjective_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 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_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 + 4.22sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782402337.83626842 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.358ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (1.129e-06 s). ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.080ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.675ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.020ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.116ms + 5.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.966ms + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.305ms + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.999ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381170 ms (missed cycles : 2).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.719ms + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.380ms + 0.68sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.472ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674175 ms (missed cycles : 5).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.428ms + 1.77sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.229ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840736 ms (missed cycles : 2).[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 6.482ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150327 ms (missed cycles : 5).[0m ×2 + 3.61sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782402337.26958919 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.626ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 13.833ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.396ms + 4.22sWARNobjective_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 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_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 + 4.22sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782402337.83626842 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.358ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768933 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (1.129e-06 s). ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.080ms + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.675ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.020ms + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271615 ms (missed cycles : 4).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.116ms + 5.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.966ms + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.305ms + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 7.999ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700890 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 286 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560104 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.307ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279512 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.127ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786107 ms (missed cycles : 2).[0m ×2 + 2.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.339ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.672161 ms (missed cycles : 6).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782402473.94016314 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 3.513ms + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.162ms + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779612 ms (missed cycles : 3).[0m ×2 + 4.22sWARNobjective_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 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.23sINFOobjective_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 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782402474.49521351 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.712ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.623ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.761ms + 5.21sINFOamclParticle filter update iteration stats: 4570 particles 91 points - 5.700ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570192 ms (missed cycles : 3).[0m ×2 + 5.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 4.918ms + 5.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal + 5.68sINFOjoint_trajectory_controllerAccepted new action goal + 5.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.356ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720413 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 1000 particles 91 points - 1.113ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 27 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601099 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601099 ms (missed cycles : 3).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.416ms + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.647ms + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.543ms + 0.96sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.708ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170905 ms (missed cycles : 2).[0m ×2 + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.883ms + 1.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.665ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701334 ms (missed cycles : 3).[0m ×2 + 2.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.920ms + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.781ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890805 ms (missed cycles : 5).[0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.982ms + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.65sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782402541.11429000 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.231ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.089ms + 4.18sWARNobjective_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 + 4.18sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.18sINFOobjective_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 + 4.18sINFOobjective_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 + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782402541.69338536 seconds. ×3 + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.23sINFOmove_groupClearing octomap...[0m ×2 + 4.23sINFOmove_groupOctomap cleared.[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.772ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491779 ms (missed cycles : 5).[0m ×2 + 4.53sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.126ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.132ms + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782402542.16498232 seconds ×3 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.777ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.152ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 8.719ms + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782402542.70719290 seconds. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495436 ms (missed cycles : 6).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 12.013ms + 5.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782402543.08739972 seconds ×3 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 11.849ms + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 9.313ms + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842465 ms (missed cycles : 3).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 91 points - 10.921ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 20.0s | 15 errors · 309 warnings · 1097 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/2026-06-25-15-42-56-080954-faf8b7e44340-9163 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.58sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 8.58sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 8.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.64sINFOcontroller_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. + 8.66sINFOcontroller_serverCreating controller server + 8.67sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.67sINFOlocal_costmap.local_costmapCreating Costmap + 8.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.68sINFOsmoother_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. + 8.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.70sINFOsmoother_serverCreating smoother server + 8.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 8.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 8.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.72sINFOcontroller_managerupdate rate is 600 Hz + 8.72sINFOcontroller_managerOverruns handling is : enabled + 8.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.72sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 8.74sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975052 ms (missed cycles : 5). + 8.78sINFOplanner_serverCreating + 8.80sINFOglobal_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. + 8.81sINFOglobal_costmap.global_costmapCreating Costmap + 8.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 8.87sINFOros2_control_node-7process started with pid [9218] ×2 + 8.87sINFOmove_group-19process started with pid [9298] ×2 + 8.87sINFOparameter_manager_node-20process started with pid [9299] ×2 + 8.88sINFOwaypoint_manager_node-21process started with pid [9300] ×2 + 8.88sINFOmove_joint_resampler_node-22process started with pid [9302] ×2 + 8.88sINFOmove_end_effector_resampler_node-23process started with pid [9346] ×2 + 8.88sINFOobjective_server_node_main-24process started with pid [9347] ×2 + 8.88sINFOcomponent_container_mt-25process started with pid [9349] ×2 + 8.88sINFOexecute_objective_bridge-26process started with pid [9365] ×2 + 8.88sINFOui_teleop_bridge-27process started with pid [9372] ×2 + 8.88sINFOweb_bridge-28process started with pid [9386] ×2 + 8.88sINFOtf2_web_republisher_node-29process started with pid [9387] ×2 + 8.88sINFOweb_video_server-30process started with pid [9388] ×2 + 8.88sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.90sINFOcomponent_container_isolated-1process started with pid [9212] ×2 + 8.90sINFOstatic_transform_publisher-2process started with pid [9213] ×2 + 8.90sINFOstatic_transform_publisher-3process started with pid [9214] ×2 + 8.90sINFOodom_qos_relay.py-4process started with pid [9215] ×2 + 8.90sINFOscan_to_scan_filter_chain-5process started with pid [9216] ×2 + 8.90sINFOscan_to_scan_filter_chain-6process started with pid [9217] ×2 + 8.90sINFOros2-8process started with pid [9219] ×2 + 8.90sINFOros2-9process started with pid [9288] ×2 + 8.90sINFOros2-10process started with pid [9289] ×2 + 8.90sINFOros2-11process started with pid [9290] ×2 + 8.90sINFOros2-12process started with pid [9291] ×2 + 8.90sINFOros2-13process started with pid [9292] ×2 + 8.90sINFOros2-14process started with pid [9293] ×2 + 8.90sINFOros2-15process started with pid [9294] ×2 + 8.90sINFOros2-16process started with pid [9295] ×2 + 8.90sINFOros2-17process started with pid [9296] ×2 + 8.90sINFOros2-18process started with pid [9297] ×2 + 8.92sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.92sINFOmap_serverCreating + 8.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 8.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 8.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 8.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.95sINFObehavior_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. + 8.97sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 8.97sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 8.97sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 8.97sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 8.97sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 8.97sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 8.97sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.97sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.97sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.97sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.97sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.97sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.975052 ms (missed cycles : 5).[0m ×2 + 9.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 9.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 9.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 9.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.04sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.05sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 9.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.14sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.14sINFOcontroller_managerReceived robot description from topic. + 9.14sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.14sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.14sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.14sINFOrobot_state_publisherRobot initialized + 9.15sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.16sINFObt_navigatorCreating + 9.17sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.17sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.17sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.19sINFOlifecycle_manager_localizationCreating + 9.21sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 9.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.22sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.22sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.23sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.23sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.23sINFOmap_serverConfiguring + 9.25sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.26sINFOwaypoint_followerCreating + 9.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.30sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.30sINFOamclConfiguring + 9.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.31sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.32sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.32sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.32sINFOmap_serverActivating + 9.32sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.35sINFOlifecycle_manager_navigationCreating + 9.36sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.38sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.38sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.38sINFOcontroller_serverConfiguring controller interface + 9.38sINFOcontroller_servergetting progress checker plugins.. + 9.38sINFOcontroller_servergetting goal checker plugins.. + 9.38sINFOcontroller_serverController frequency set to 20.0000Hz + 9.38sINFOlocal_costmap.local_costmapConfiguring + 9.39sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.41sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.43sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.44sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.44sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.44sINFOamclActivating + 9.44sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.44sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.44sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.47sINFOamclSubscribed to map_topic: /map + 9.47sINFOamclSubscribed to scan_topic: /scan_front_filtered + 9.47sINFOamclCreated reinitialize_global_localization service + 9.47sINFOamclCreated request_nomotion_update service + 9.48sINFOamclA new map was received + 9.48sINFOamclInitializing particle filter instance + 9.48sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.48sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.48sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.51sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.51sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.51sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.52sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.52sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.54sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.55sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.55sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.56sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.364731 seconds + 9.57sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.57sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.57sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.57sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.57sINFOmove_groupLoaded robot model in 0.364731 seconds[0m ×2 + 9.57sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.57sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.57sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.57sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.58sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.58sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.59sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.59sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.59sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.59sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.59sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.60sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 9.60sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.60sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.61sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.61sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.61sINFOcontroller_serverOptimizer reset + 9.63sINFOcontroller_serverController Server has FollowPath controllers available. + 9.66sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.66sINFOsmoother_serverConfiguring smoother server + 9.67sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.68sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.69sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.70sINFOplanner_serverConfiguring + 9.70sINFOglobal_costmap.global_costmapConfiguring + 9.71sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.72sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.72sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.72sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.73sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.78sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 9.78sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 9.79sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 9.82sFATALplanner_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 + 9.82sINFOplanner_serverCleaning up + 9.82sINFOglobal_costmap.global_costmapCleaning up + 9.83sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.361619 ms (missed cycles : 6). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.361619 ms (missed cycles : 6).[0m ×2 + 9.89sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 9.89sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 9.90sINFOamclParticle filter initialization completed + 9.90sINFOamclInitializing particles from estimated pose and covariance + 9.90sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 9.95sINFOlifecycle_manager_localizationServer amcl connected with bond. + 9.95sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.95sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 10.01sINFOamclThe bond connection to the lifecycle manager is now fully formed + 10.19sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.19sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.19sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.19sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.19sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.19sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.20sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.23sINFOwaypoint_manager_nodeLoaded robot model in 0.476146 seconds[0m ×2 + 10.23sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.24sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.30sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 10.31sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 10.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.65sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.65sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.66sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.66sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.67sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.67sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.67sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.67sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.67sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.67sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.67sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.67sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.67sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.68sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.68sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.68sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.68sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.68sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.68sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.68sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.68sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.68sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.68sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.68sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.71sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.71sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.71sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.71sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.71sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.72sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.72sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.72sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.72sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.72sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.72sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.72sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.72sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.72sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.73sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.73sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.73sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.73sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 11.11sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.11sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.11sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.11sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.11sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.11sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.11sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.11sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.11sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.11sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.11sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.11sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.13sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.13sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.13sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.15sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 11.15sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.15sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.23sINFOamclParticle filter update iteration stats: 2061 particles 91 points - 3.964ms + 11.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 11.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 11.34sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 11.34sINFOros2Loaded joint_state_broadcaster ×2 + 11.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.34sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 11.34sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 11.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.34sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 11.34sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 11.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.35sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 11.35sINFOros2Configured and activated joint_state_broadcaster ×2 + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.44sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.50sINFOobjective_server_node[2026-06-25 15:43:10.031] [moveit_pro_license] [info] ×2 + 11.50sINFOobjective_server_node************************************************* ×4 + 11.50sINFOobjective_server_node* MoveIt Pro License ×2 + 11.50sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.56sINFOobjective_server_nodeLoaded robot model in 0.0197868 seconds[0m ×2 + 11.56sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.56sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.61sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 11.68sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.68sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.68sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.68sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.71sINFOros2-10process has finished cleanly [pid 9289] ×2 + 11.81sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.81sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.81sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.82sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.82sWARNobjective_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 + 11.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 11.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 11.88sINFOobjective_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 + 11.88sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 11.89sINFOros2Loaded joint_velocity_controller ×2 + 11.89sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.90sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.90sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.90sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.90sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.90sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.90sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.90sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 11.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 11.91sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 11.97sINFOcomponent_container_mtLoaded robot model in 0.360978 seconds[0m ×2 + 11.97sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 11.97sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.09sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.09sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.15sINFOros2_control_node[2026-06-25 15:43:10.689] [info] Controller state will be published at 20 Hz. ×2 + 12.15sINFOros2_control_node[2026-06-25 15:43:10.690] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931024 ms (missed cycles : 3). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.931024 ms (missed cycles : 3).[0m ×2 + 12.50sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 12.52sINFOros2-17process has finished cleanly [pid 9296] ×2 + 12.59sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.59sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 12.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 12.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 12.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 12.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 12.79sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 12.79sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 12.79sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 12.79sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 12.80sINFOforce_torque_sensor_broadcasterconfigure successful + 12.80sINFOros2_control_nodeconfigure successful[0m ×6 + 12.80sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 12.80sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 12.81sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 12.81sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 12.83sINFOamclMessage Filter dropping message: frame 'lidar_front_ROS' at time 1782402190.365 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.88sWARNobjective_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 + 12.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.92sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 12.92sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 12.93sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 12.93sINFOstreaming_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) + 12.93sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 12.93sINFOcomponent_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 + 12.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.11sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.12sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 13.12sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 13.14sINFOros2-8process has finished cleanly [pid 9219] ×2 + 13.19sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 13.19sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 13.19sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.19sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.20sINFOplatform_velocity_controller_nav2configure successful + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324113 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324113 ms (missed cycles : 2).[0m ×2 + 13.45sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 13.45sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 13.49sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.49sINFOmove_groupMoveGroup debug mode is ON + 13.49sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.49sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.50sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.55sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 13.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 13.61sINFOros2-13process has finished cleanly [pid 9292] ×2 + 13.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.62sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.69sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 13.69sINFOros2Loaded joint_trajectory_controller ×2 + 13.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.69sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.69sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.69sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.69sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.69sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.72sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.77sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 13.77sINFOmove_group ×8 + 13.77sINFOmove_group******************************************************** ×4 + 13.77sINFOmove_group* MoveGroup using: ×2 + 13.77sINFOmove_group* - apply_planning_scene_service ×2 + 13.77sINFOmove_group* - clear_octomap_service ×2 + 13.77sINFOmove_group* - ExecuteTaskSolution ×2 + 13.77sINFOmove_group* - get_group_urdf ×2 + 13.77sINFOmove_group* - load_geometry_from_file ×2 + 13.77sINFOmove_group* - get_planning_scene_service ×2 + 13.77sINFOmove_group* - kinematics_service ×2 + 13.77sINFOmove_group* - save_geometry_to_file ×2 + 13.77sINFOmove_group* - GetPlanningGroups ×2 + 13.77sINFOmove_group* - SetActiveControllerService ×2 + 13.77sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.77sINFOmove_group[0m ×2 + 13.77sINFOmove_group[92mYou can start planning now![0m ×2 + 14.01sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 14.01sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 14.01sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 14.01sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 14.01sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 14.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 14.05sINFOros2-14process has finished cleanly [pid 9293] ×2 + 14.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 14.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 14.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 14.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 14.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 14.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 14.08sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 14.08sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 14.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 14.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 14.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 14.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 14.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 14.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 14.44sINFOros2-9process has finished cleanly [pid 9288] ×2 + 14.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 14.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 14.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 14.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 14.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 14.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 15.06sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.06sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.06sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.10sINFOros2-18process has finished cleanly [pid 9297] ×2 + 15.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 15.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 15.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 15.19sINFOros2Loaded arm_only_velocity_force_controller ×2 + 15.20sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 15.45sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.45sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 15.45sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 15.80sINFOros2-16process has finished cleanly [pid 9295] ×2 + 15.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 15.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 15.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 15.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 15.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 15.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 15.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 15.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 15.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 15.86sINFOros2Loaded vacuum_gripper ×2 + 15.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 15.88sINFOros2Configured and activated vacuum_gripper ×2 + 16.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 16.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 16.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 16.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 16.28sINFOros2Loaded platform_velocity_controller ×2 + 16.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.28sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.28sINFOplatform_velocity_controllerconfigure successful + 16.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 16.29sINFOros2Configured and activated platform_velocity_controller ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 16.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 16.64sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.64sINFOcontroller_managerLoading controller 'velocity_force_controller' + 16.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 16.64sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 16.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 16.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 16.69sINFOros2Loaded velocity_force_controller ×2 + 16.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 16.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.96sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 16.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 17.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 17.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 17.57sWARNobjective_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 ×5 + 17.57sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 17.57sINFOobjective_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 ×10 + 17.57sINFOobjective_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 ×10 + 17.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 17.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.58sINFOmove_groupClearing octomap...[0m ×2 + 17.58sINFOmove_groupOctomap cleared.[0m ×2 + 17.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 18.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 18.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 18.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 18.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 19.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 19.42sINFOobjective_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 + 19.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 19.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 20.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 45 warnings · 254 info |
+ 0.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.00sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.25sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.57sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.57sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.58sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2-18process has finished cleanly [pid 9297] ×2 + 0.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.71sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.71sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.97sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.33sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.33sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.38sINFOros2Loaded vacuum_gripper ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.40sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.40sINFOros2Configured and activated vacuum_gripper ×2 + 1.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.72sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.72sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.74sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.79sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.79sINFOros2Loaded platform_velocity_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.80sINFOplatform_velocity_controllerconfigure successful + 1.80sINFOros2_control_nodeconfigure successful[0m ×2 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.81sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.81sINFOros2Configured and activated platform_velocity_controller ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.15sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.21sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.21sINFOros2Loaded velocity_force_controller ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.83sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.09sWARNobjective_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 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.09sINFOobjective_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 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 6.58sWARNobjective_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 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 42 warnings · 297 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 7.05sWARNobjective_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 + 7.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.30sINFOjoint_trajectory_controllerReceived new action goal + 7.30sINFOjoint_trajectory_controllerAccepted new action goal + 7.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.30sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-25-15-42-56-080954-faf8b7e44340-9163 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 286 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 286 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 286 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.04sINFOros2-14process has finished cleanly [pid 9293] ×2 + 0.06sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.06sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.07sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.07sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.39sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.39sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.39sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.43sINFOros2-9process has finished cleanly [pid 9288] ×2 + 0.45sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.45sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.73sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.09sINFOros2-18process has finished cleanly [pid 9297] ×2 + 1.13sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.18sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.18sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.79sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.82sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.86sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.86sINFOros2Loaded vacuum_gripper ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.86sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.88sINFOros2Configured and activated vacuum_gripper ×2 + 2.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.22sINFOros2-12process has finished cleanly [pid 9291] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.27sINFOplatform_velocity_controllerconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.28sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.28sINFOros2Configured and activated platform_velocity_controller ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.63sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.69sINFOros2Loaded velocity_force_controller ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.95sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.96sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.31sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.56sWARNobjective_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 ×5 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.56sINFOobjective_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 + 3.56sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.57sINFOmove_groupClearing octomap...[0m ×2 + 3.57sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 5.41sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 42 warnings · 254 info |
+ 0.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.00sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828891 ms (missed cycles : 2).[0m ×2 + 0.25sINFOros2_control_node[2026-06-25 15:43:13.265] [info] Controller state will be published at 20 Hz. ×2 + 0.25sINFOros2_control_node[2026-06-25 15:43:13.268] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.57sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.57sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.58sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.62sINFOros2-18process has finished cleanly [pid 9297] ×2 + 0.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.71sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.71sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.97sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 1.32sINFOros2-16process has finished cleanly [pid 9295] ×2 + 1.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.33sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.33sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.38sINFOros2Loaded vacuum_gripper ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.39sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.40sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.40sINFOros2Configured and activated vacuum_gripper ×2 + 1.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.72sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.72sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.74sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.79sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.79sINFOros2Loaded platform_velocity_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.80sINFOplatform_velocity_controllerconfigure successful + 1.80sINFOros2_control_nodeconfigure successful[0m ×2 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.81sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.81sINFOros2Configured and activated platform_velocity_controller ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 2.15sINFOros2-11process has finished cleanly [pid 9290] ×2 + 2.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 2.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 2.21sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.21sINFOros2Loaded velocity_force_controller ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.83sINFOros2-15process has finished cleanly [pid 9294] ×2 + 3.09sWARNobjective_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 + 3.09sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.09sINFOobjective_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 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.09sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 6.58sWARNobjective_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 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.66sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[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 | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 235 info |
+ 0.00sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.00sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.979] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.984] [info] Controller state will be published at 10 Hz. ×2 + 0.26sINFOros2_control_node[2026-06-25 15:43:13.985] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817744 ms (missed cycles : 2).[0m ×2 + 0.61sINFOros2-16process has finished cleanly [pid 9295] ×2 + 0.61sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.61sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.61sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.62sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 0.62sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 0.63sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.67sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.67sINFOros2Loaded vacuum_gripper ×2 + 0.68sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.68sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.68sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.69sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.69sINFOros2Configured and activated vacuum_gripper ×2 + 1.01sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.01sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.01sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.02sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.04sINFOros2-12process has finished cleanly [pid 9291] ×2 + 1.09sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.09sINFOros2Loaded platform_velocity_controller ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.09sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.09sINFOplatform_velocity_controllerconfigure successful + 1.09sINFOros2_control_nodeconfigure successful[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.10sINFOros2Configured and activated platform_velocity_controller ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105569 ms (missed cycles : 4).[0m ×2 + 1.44sINFOros2-11process has finished cleanly [pid 9290] ×2 + 1.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn + 1.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cun4__71 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_pjkebw0l --params-file /tmp/launch_params_imoj9pnn [0m ×2 + 1.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.50sINFOros2Loaded velocity_force_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.496] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.499] [info] Controller state will be published at 10 Hz. ×2 + 1.77sINFOros2_control_node[2026-06-25 15:43:15.500] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.12sINFOros2-15process has finished cleanly [pid 9294] ×2 + 2.38sWARNobjective_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 + 2.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.38sINFOobjective_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 + 2.38sINFOobjective_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 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782402196.11004186 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782402196.12021971 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922576 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782402196.66425252 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782402196.67437887 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782402197.22058344 seconds. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517592 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782402197.37133622 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782402197.94346547 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.25sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782402197.98359394 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003385 ms (missed cycles : 4).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782402198.52656984 seconds. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986878 ms (missed cycles : 3).[0m ×2 + 5.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.87sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441345 ms (missed cycles : 4).[0m ×2 | ||||