67
Total objective tests
15
Objectives passed
1
Objectives failed
51
Objectives skipped
26.5s
Avg test time
94%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives1 fail11 pass24 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 90.5s | 3 errors · 285 warnings · 261 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.028ms + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.820ms + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.784ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782410363.59586930 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.768ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.213ms + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782410364.16586447 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 723 points - 10.690ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.414ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.920ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.355ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.745ms + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.93sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.93sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4).[0m ×2 + 6.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms ×2 + 6.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403986 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403986 ms (missed cycles : 3).[0m ×2 + 7.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.631ms + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854950 ms (missed cycles : 5). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854950 ms (missed cycles : 5).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.488ms + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.544ms + 9.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.359ms + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682229 ms (missed cycles : 5). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682229 ms (missed cycles : 5).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.588ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640199 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640199 ms (missed cycles : 3).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.986ms + 10.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.580ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.329ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844497 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844497 ms (missed cycles : 3).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.488ms + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.883ms + 12.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.426ms + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.210ms + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701197 ms (missed cycles : 5). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701197 ms (missed cycles : 5).[0m ×2 + 12.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.571ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.330ms + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.631ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476971 ms (missed cycles : 6). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476971 ms (missed cycles : 6).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.007ms + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.796ms + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.860ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741481 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741481 ms (missed cycles : 3).[0m ×2 + 14.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.013ms + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.173ms + 15.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867132 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867132 ms (missed cycles : 3).[0m ×2 + 15.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.456ms + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.995ms + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.239ms + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.548ms + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.391ms + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.636625 ms (missed cycles : 7). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.636625 ms (missed cycles : 7).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.846ms + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.377ms + 16.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.985ms + 17.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 17.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.422ms + 17.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.923ms + 17.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.228ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895571 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895571 ms (missed cycles : 3).[0m ×2 + 18.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.005ms + 18.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701833 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701833 ms (missed cycles : 3).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.176ms + 19.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.013ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788890 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788890 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 20.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.526ms + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168622 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168622 ms (missed cycles : 2).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.067ms + 21.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.920ms + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003876 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003876 ms (missed cycles : 2).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.558ms + 22.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.548ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332213 ms (missed cycles : 5). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.332213 ms (missed cycles : 5).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.161ms + 23.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.114ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800924 ms (missed cycles : 3). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800924 ms (missed cycles : 3).[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.385ms + 24.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.905ms + 24.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.652ms + 24.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.011ms + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417199 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417199 ms (missed cycles : 3).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 25.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.439ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586988 ms (missed cycles : 3). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586988 ms (missed cycles : 3).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.158ms + 26.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.679ms + 26.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.524ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746937 ms (missed cycles : 6). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746937 ms (missed cycles : 6).[0m ×2 + 27.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.061ms + 27.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.190ms + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553453 ms (missed cycles : 6). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553453 ms (missed cycles : 6).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.012ms + 28.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681613 ms (missed cycles : 3). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681613 ms (missed cycles : 3).[0m ×2 + 29.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.005ms + 29.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 29.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 30.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.816ms + 30.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.208ms + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972806 ms (missed cycles : 2). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972806 ms (missed cycles : 2).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.063ms + 30.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.589ms + 30.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.835ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033215 ms (missed cycles : 4). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033215 ms (missed cycles : 4).[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.052ms + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127910 ms (missed cycles : 5). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.127910 ms (missed cycles : 5).[0m ×2 + 32.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.025ms + 33.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.172ms + 33.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.640ms + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739862 ms (missed cycles : 2). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739862 ms (missed cycles : 2).[0m ×2 + 33.52sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.14sWARNobjective_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 + 34.14sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 34.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 34.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.148ms + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865860 ms (missed cycles : 6). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.865860 ms (missed cycles : 6).[0m ×2 + 34.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.261ms + 34.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.974ms + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111478 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111478 ms (missed cycles : 3).[0m ×2 + 36.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.471ms + 36.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.957ms + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995625 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995625 ms (missed cycles : 2).[0m ×2 + 37.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.439ms + 37.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 37.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.474ms + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812846 ms (missed cycles : 3). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812846 ms (missed cycles : 3).[0m ×2 + 38.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.209ms + 38.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.927ms + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300611 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300611 ms (missed cycles : 2).[0m ×2 + 38.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.447ms + 39.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.350ms + 39.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.806ms + 39.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764243 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764243 ms (missed cycles : 3).[0m ×2 + 40.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.878ms + 40.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.335ms + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367895 ms (missed cycles : 2). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367895 ms (missed cycles : 2).[0m ×2 + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911653 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911653 ms (missed cycles : 3).[0m ×2 + 42.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.960ms + 42.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.222ms + 42.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.546ms + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.376573 ms (missed cycles : 7). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.376573 ms (missed cycles : 7).[0m ×2 + 43.33sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.412ms + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976724 ms (missed cycles : 3). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976724 ms (missed cycles : 3).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.304ms + 44.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.286ms + 45.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.298ms + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388472 ms (missed cycles : 4). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388472 ms (missed cycles : 4).[0m ×2 + 46.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.045ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275388 ms (missed cycles : 2). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275388 ms (missed cycles : 2).[0m ×2 + 46.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.304ms + 46.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 46.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.779ms + 47.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.593ms + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092238 ms (missed cycles : 2). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092238 ms (missed cycles : 2).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.072ms + 48.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281373 ms (missed cycles : 3). + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281373 ms (missed cycles : 3).[0m ×2 + 48.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.318ms + 48.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.327ms + 49.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181394 ms (missed cycles : 3). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181394 ms (missed cycles : 3).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504464 ms (missed cycles : 3). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504464 ms (missed cycles : 3).[0m ×2 + 50.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.419ms + 50.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.623ms + 51.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725834 ms (missed cycles : 3). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725834 ms (missed cycles : 3).[0m ×2 + 51.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.224ms + 52.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.737ms + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000204 ms (missed cycles : 3). + 52.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000204 ms (missed cycles : 3).[0m ×2 + 52.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.059ms + 53.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.294ms + 53.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.260ms + 53.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 53.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.318ms + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.728799 ms (missed cycles : 7). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.728799 ms (missed cycles : 7).[0m ×2 + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805192 ms (missed cycles : 3). + 54.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805192 ms (missed cycles : 3).[0m ×2 + 55.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.911ms + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.188593 ms (missed cycles : 6). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.188593 ms (missed cycles : 6).[0m ×2 + 56.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.542ms + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296882 ms (missed cycles : 5). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.296882 ms (missed cycles : 5).[0m ×2 + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615392 ms (missed cycles : 3). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615392 ms (missed cycles : 3).[0m ×2 + 58.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.793ms + 58.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 58.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256109 ms (missed cycles : 2). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256109 ms (missed cycles : 2).[0m ×2 + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.730484 ms (missed cycles : 7). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.730484 ms (missed cycles : 7).[0m ×2 + 60.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.562ms + 60.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 60.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010695 ms (missed cycles : 2). + 60.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010695 ms (missed cycles : 2).[0m ×2 + 61.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.967ms + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108472 ms (missed cycles : 4). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108472 ms (missed cycles : 4).[0m ×2 + 62.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.690ms + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577788 ms (missed cycles : 2). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577788 ms (missed cycles : 2).[0m ×2 + 63.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046121 ms (missed cycles : 4). + 63.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046121 ms (missed cycles : 4).[0m ×2 + 64.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.380ms + 65.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 65.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209913 ms (missed cycles : 5). + 65.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209913 ms (missed cycles : 5).[0m ×2 + 66.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250352 ms (missed cycles : 3). + 66.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250352 ms (missed cycles : 3).[0m ×2 + 67.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.045ms + 67.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090505 ms (missed cycles : 3). + 67.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090505 ms (missed cycles : 3).[0m ×2 + 67.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.800ms + 68.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790136 ms (missed cycles : 3). + 68.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790136 ms (missed cycles : 3).[0m ×2 + 69.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.847ms + 69.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.479ms + 69.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543987 ms (missed cycles : 3). + 69.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543987 ms (missed cycles : 3).[0m ×2 + 70.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632689 ms (missed cycles : 2). + 70.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632689 ms (missed cycles : 2).[0m ×2 + 71.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.606ms + 71.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.635ms + 71.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544295 ms (missed cycles : 3). + 71.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544295 ms (missed cycles : 3).[0m ×2 + 72.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695884 ms (missed cycles : 3). + 72.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695884 ms (missed cycles : 3).[0m ×2 + 72.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.649ms + 72.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 73.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.471007 ms (missed cycles : 7). + 73.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.471007 ms (missed cycles : 7).[0m ×2 + 74.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396383 ms (missed cycles : 2). + 74.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396383 ms (missed cycles : 2).[0m ×2 + 74.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.766ms + 75.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.143ms + 75.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889954 ms (missed cycles : 2). + 75.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889954 ms (missed cycles : 2).[0m ×2 + 76.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682712 ms (missed cycles : 3). + 76.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682712 ms (missed cycles : 3).[0m ×2 + 76.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.847ms + 76.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 77.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315956 ms (missed cycles : 5). + 77.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315956 ms (missed cycles : 5).[0m ×2 + 78.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.866455 ms (missed cycles : 6). + 78.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.866455 ms (missed cycles : 6).[0m ×2 + 78.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.520ms + 78.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.771ms + 79.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.330ms + 79.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.559ms + 79.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601347 ms (missed cycles : 3). + 79.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601347 ms (missed cycles : 3).[0m ×2 + 80.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.377283 ms (missed cycles : 10). + 80.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.377283 ms (missed cycles : 10).[0m ×2 + 81.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.378ms + 81.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 81.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684257 ms (missed cycles : 2). + 81.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684257 ms (missed cycles : 2).[0m ×2 + 82.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877039 ms (missed cycles : 3). + 82.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877039 ms (missed cycles : 3).[0m ×2 + 83.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.088ms + 83.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.517ms + 83.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.669ms + 83.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.107ms + 83.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.663099 ms (missed cycles : 12). + 83.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.663099 ms (missed cycles : 12).[0m ×2 + 84.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.740ms + 84.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.669ms + 84.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850886 ms (missed cycles : 6). + 84.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.850886 ms (missed cycles : 6).[0m ×2 + 85.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059449 ms (missed cycles : 2). + 85.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059449 ms (missed cycles : 2).[0m ×2 + 86.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612851 ms (missed cycles : 4). + 86.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.612851 ms (missed cycles : 4).[0m ×2 + 87.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.704ms + 87.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.963ms + 88.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102328 ms (missed cycles : 2). + 88.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102328 ms (missed cycles : 2).[0m ×2 + 88.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.199ms + 88.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.693ms + 89.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.370408 ms (missed cycles : 8). + 89.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.370408 ms (missed cycles : 8).[0m ×2 + 90.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736606 ms (missed cycles : 3). + 90.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736606 ms (missed cycles : 3).[0m ×2 + 91.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800252 ms (missed cycles : 3). + 91.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800252 ms (missed cycles : 3).[0m ×2 + 92.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600926 ms (missed cycles : 2). + 92.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600926 ms (missed cycles : 2).[0m ×2 + 92.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.363ms + 92.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.063ms + 93.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024248 ms (missed cycles : 6). + 93.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024248 ms (missed cycles : 6).[0m ×2 + 94.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628232 ms (missed cycles : 3). + 94.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628232 ms (missed cycles : 3).[0m ×2 + 94.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 94.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.363ms + 94.87sINFOjoint_trajectory_controllerGot request to cancel goal + 94.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 94.87sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 94.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 94.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1782410454.79823112 seconds ×3 + 94.94sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782410454.83193374 seconds. ×3 + 95.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 95.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262303 ms (missed cycles : 7). + 95.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262303 ms (missed cycles : 7).[0m ×2 + 96.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.647683 ms (missed cycles : 7). + 96.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.647683 ms (missed cycles : 7).[0m ×2 + 96.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 97.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.815ms + 97.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.940ms | ||||
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.8s | 3 errors · 240 warnings · 278 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685527 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685527 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.203ms + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684344 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684344 ms (missed cycles : 3).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.562ms + 1.81sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.893ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610000 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610000 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.152ms ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902256 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902256 ms (missed cycles : 2).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.984ms + 3.76sINFOjoint_trajectory_controllerGot request to cancel goal + 3.76sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.76sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.76sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782410465.21609473 seconds ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.208ms + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.832ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.496ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.260ms + 4.35sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.35sINFOobjective_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 + 4.35sINFOobjective_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 + 4.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782410465.76765013 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854152 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854152 ms (missed cycles : 2).[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.896ms + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.870ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.272ms + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938018 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938018 ms (missed cycles : 3).[0m ×2 + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.436ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.790ms + 6.04sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.915ms + 6.28sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.28sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.28sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.305ms + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996979 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996979 ms (missed cycles : 2).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.307ms + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.552ms + 7.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.953ms + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693245 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693245 ms (missed cycles : 2).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.818ms + 8.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.952ms + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.486ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.502964 ms (missed cycles : 7). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.502964 ms (missed cycles : 7).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.803ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626653 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626653 ms (missed cycles : 3).[0m ×2 + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.759ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848422 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848422 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.561ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.258ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629370 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629370 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.502ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105719 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105719 ms (missed cycles : 2).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.159ms + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867950 ms (missed cycles : 5). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867950 ms (missed cycles : 5).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.832ms + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.834ms + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.897ms + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.537ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622688 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622688 ms (missed cycles : 4).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.482ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.685ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068293 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068293 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.064ms + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.592ms + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.585ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767275 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767275 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.365ms + 18.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.233ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586511 ms (missed cycles : 4). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586511 ms (missed cycles : 4).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.056ms + 18.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.631ms + 18.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.960ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316967 ms (missed cycles : 4). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316967 ms (missed cycles : 4).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.860ms + 20.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.413ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786418 ms (missed cycles : 3). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786418 ms (missed cycles : 3).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.577ms + 20.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.640ms + 20.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.452ms + 20.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.660ms + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770136 ms (missed cycles : 6). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.770136 ms (missed cycles : 6).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.223ms + 22.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.704ms + 22.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.981ms + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869936 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869936 ms (missed cycles : 2).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.263ms + 22.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 23.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889675 ms (missed cycles : 3). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889675 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.295ms + 24.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 24.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.314ms + 24.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.619ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676688 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676688 ms (missed cycles : 2).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.489ms + 25.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.698ms + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492230 ms (missed cycles : 4). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492230 ms (missed cycles : 4).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.967ms + 26.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 26.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.495ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974007 ms (missed cycles : 3). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974007 ms (missed cycles : 3).[0m ×2 + 26.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.429ms + 27.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.443ms + 27.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.520ms + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340188 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340188 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.808ms + 28.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419783 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419783 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.662ms + 29.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.403ms + 29.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.603ms + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652306 ms (missed cycles : 2). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652306 ms (missed cycles : 2).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 30.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.869ms + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894787 ms (missed cycles : 5). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894787 ms (missed cycles : 5).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.902ms + 31.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.868ms + 31.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.507ms + 31.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.200791 ms (missed cycles : 7). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.200791 ms (missed cycles : 7).[0m ×2 + 32.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196607 ms (missed cycles : 2). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196607 ms (missed cycles : 2).[0m ×2 + 33.51sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.51sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 34.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.749ms + 34.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057962 ms (missed cycles : 3). + 34.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057962 ms (missed cycles : 3).[0m ×2 + 34.02sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.70sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 34.70sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376929 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376929 ms (missed cycles : 2).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.787ms + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.193137 ms (missed cycles : 8). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.193137 ms (missed cycles : 8).[0m ×2 + 36.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.962ms + 36.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.360ms + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162998 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162998 ms (missed cycles : 2).[0m ×2 + 37.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 37.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.893ms + 38.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.445ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961261 ms (missed cycles : 4). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961261 ms (missed cycles : 4).[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.841ms + 38.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.276ms + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099365 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099365 ms (missed cycles : 3).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.872ms + 40.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.731ms + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097852 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097852 ms (missed cycles : 3).[0m ×2 + 40.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.065ms + 41.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.984ms + 41.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908101 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908101 ms (missed cycles : 2).[0m ×2 + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.597776 ms (missed cycles : 7). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.597776 ms (missed cycles : 7).[0m ×2 + 42.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540877 ms (missed cycles : 3). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540877 ms (missed cycles : 3).[0m ×2 + 44.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730349 ms (missed cycles : 3). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730349 ms (missed cycles : 3).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.840ms + 44.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.754ms + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214191 ms (missed cycles : 4). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214191 ms (missed cycles : 4).[0m ×2 + 45.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.107ms + 46.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.166ms + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711897 ms (missed cycles : 4). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711897 ms (missed cycles : 4).[0m ×2 + 46.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.959ms + 46.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 46.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662944 ms (missed cycles : 6). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.662944 ms (missed cycles : 6).[0m ×2 + 47.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms ×2 + 48.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 48.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200850 ms (missed cycles : 5). + 48.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200850 ms (missed cycles : 5).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.667ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350873 ms (missed cycles : 5). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350873 ms (missed cycles : 5).[0m ×2 + 50.12sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 50.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630671 ms (missed cycles : 4). + 50.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630671 ms (missed cycles : 4).[0m ×2 + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357970 ms (missed cycles : 2). + 51.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357970 ms (missed cycles : 2).[0m ×2 + 51.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.287ms + 51.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727241 ms (missed cycles : 2). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727241 ms (missed cycles : 2).[0m ×2 + 53.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.960ms + 53.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.304ms + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981481 ms (missed cycles : 3). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981481 ms (missed cycles : 3).[0m ×2 + 54.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms + 54.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834780 ms (missed cycles : 4). + 54.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834780 ms (missed cycles : 4).[0m ×2 + 55.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.623ms + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782255 ms (missed cycles : 3). + 55.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782255 ms (missed cycles : 3).[0m ×2 + 56.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028853 ms (missed cycles : 5). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028853 ms (missed cycles : 5).[0m ×2 + 56.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.558ms + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931812 ms (missed cycles : 2). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931812 ms (missed cycles : 2).[0m ×2 + 58.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.348ms + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856325 ms (missed cycles : 2). + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856325 ms (missed cycles : 2).[0m ×2 + 59.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.354ms + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 59.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763130 ms (missed cycles : 3). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763130 ms (missed cycles : 3).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.814ms + 61.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195248 ms (missed cycles : 3). + 61.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195248 ms (missed cycles : 3).[0m ×2 + 61.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.033ms + 61.82sINFOros2_control_nodeMuJoCo sim: 1.19% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 61.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 62.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.234ms + 62.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466514 ms (missed cycles : 2). + 62.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466514 ms (missed cycles : 2).[0m ×2 + 63.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900374 ms (missed cycles : 2). + 63.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900374 ms (missed cycles : 2).[0m ×2 + 63.24sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 64.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.391ms + 64.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.163ms + 64.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768906 ms (missed cycles : 3). + 64.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768906 ms (missed cycles : 3).[0m ×2 + 64.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.717ms + 65.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.046ms + 65.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308729 ms (missed cycles : 5). + 65.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308729 ms (missed cycles : 5).[0m ×2 + 65.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.093ms + 66.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 66.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024075 ms (missed cycles : 3). + 66.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024075 ms (missed cycles : 3).[0m ×2 + 67.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.243ms + 67.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760227 ms (missed cycles : 3). + 67.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760227 ms (missed cycles : 3).[0m ×2 + 68.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.816ms + 68.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.238ms + 68.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.360309 ms (missed cycles : 8). + 68.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.360309 ms (missed cycles : 8).[0m ×2 + 69.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.751ms + 69.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085800 ms (missed cycles : 2). + 69.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085800 ms (missed cycles : 2).[0m ×2 + 70.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.850ms + 70.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.920ms + 70.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247559 ms (missed cycles : 2). + 70.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247559 ms (missed cycles : 2).[0m ×2 + 70.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.995ms + 71.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.648ms + 71.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169276 ms (missed cycles : 7). + 71.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.169276 ms (missed cycles : 7).[0m ×2 + 72.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 72.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 72.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 72.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 72.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 72.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 73.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 73.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 73.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 74.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 74.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 74.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 74.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 75.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 75.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 75.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 75.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 76.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 76.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 76.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 76.58sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 76.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 76.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 76.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 77.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 77.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 77.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 77.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 77.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 77.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 195 warnings · 182 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782410266.66459846 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.17sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.761ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2).[0m ×2 + 0.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×3 + 0.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 0.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782410267.21593904 seconds. ×3 + 0.87sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 1.640ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (2.1381e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.55sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.55sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.55sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593207 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593207 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782410270.28613973 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782410270.84083152 seconds. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.048807 ms (missed cycles : 8). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.048807 ms (missed cycles : 8).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114100 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114100 ms (missed cycles : 2).[0m ×2 + 7.76sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.663ms + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845559 ms (missed cycles : 6). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.845559 ms (missed cycles : 6).[0m ×2 + 8.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106053 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106053 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 9.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.274946 ms (missed cycles : 7). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.274946 ms (missed cycles : 7).[0m ×2 + 10.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 10.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872859 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872859 ms (missed cycles : 3).[0m ×2 + 11.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 11.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993110 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993110 ms (missed cycles : 4).[0m ×2 + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384000 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384000 ms (missed cycles : 2).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 13.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682469 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682469 ms (missed cycles : 3).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 14.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033905 ms (missed cycles : 2).[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318911 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318911 ms (missed cycles : 2).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 16.57sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033051 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033051 ms (missed cycles : 2).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196305 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196305 ms (missed cycles : 2).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533454 ms (missed cycles : 4). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533454 ms (missed cycles : 4).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617530 ms (missed cycles : 3). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617530 ms (missed cycles : 3).[0m ×2 + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319422 ms (missed cycles : 4). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319422 ms (missed cycles : 4).[0m ×2 + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828468 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828468 ms (missed cycles : 3).[0m ×2 + 22.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms ×2 + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643995 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643995 ms (missed cycles : 3).[0m ×2 + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580018 ms (missed cycles : 6). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.580018 ms (missed cycles : 6).[0m ×2 + 24.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000043 ms (missed cycles : 2). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000043 ms (missed cycles : 2).[0m ×2 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590634 ms (missed cycles : 2). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590634 ms (missed cycles : 2).[0m ×2 + 26.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 27.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051784 ms (missed cycles : 2). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051784 ms (missed cycles : 2).[0m ×2 + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883610 ms (missed cycles : 6). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.883610 ms (missed cycles : 6).[0m ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.782ms + 29.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.779901 ms (missed cycles : 6). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.779901 ms (missed cycles : 6).[0m ×2 + 29.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219804 ms (missed cycles : 5). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.219804 ms (missed cycles : 5).[0m ×2 + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706983 ms (missed cycles : 2). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706983 ms (missed cycles : 2).[0m ×2 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 32.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068895 ms (missed cycles : 5). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068895 ms (missed cycles : 5).[0m ×2 + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196690 ms (missed cycles : 3). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196690 ms (missed cycles : 3).[0m ×2 + 33.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 34.86sWARNobjective_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 + 34.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791482 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791482 ms (missed cycles : 3).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039241 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039241 ms (missed cycles : 2).[0m ×2 + 36.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299606 ms (missed cycles : 3). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299606 ms (missed cycles : 3).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131838 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131838 ms (missed cycles : 2).[0m ×2 + 39.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935593 ms (missed cycles : 3). + 39.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935593 ms (missed cycles : 3).[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345176 ms (missed cycles : 2). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345176 ms (missed cycles : 2).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389687 ms (missed cycles : 3). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389687 ms (missed cycles : 3).[0m ×2 + 41.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.603760 ms (missed cycles : 6). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.603760 ms (missed cycles : 6).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310718 ms (missed cycles : 5). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310718 ms (missed cycles : 5).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030722 ms (missed cycles : 7). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.030722 ms (missed cycles : 7).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799769 ms (missed cycles : 3). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799769 ms (missed cycles : 3).[0m ×2 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630798 ms (missed cycles : 4). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630798 ms (missed cycles : 4).[0m ×2 + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688760 ms (missed cycles : 3). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688760 ms (missed cycles : 3).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084943 ms (missed cycles : 2). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084943 ms (missed cycles : 2).[0m ×2 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990025 ms (missed cycles : 6). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990025 ms (missed cycles : 6).[0m ×2 + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404492 ms (missed cycles : 2). + 50.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404492 ms (missed cycles : 2).[0m ×2 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779749 ms (missed cycles : 5). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779749 ms (missed cycles : 5).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456600 ms (missed cycles : 2). + 52.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456600 ms (missed cycles : 2).[0m ×2 + 53.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201884 ms (missed cycles : 2). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201884 ms (missed cycles : 2).[0m ×2 + 54.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525562 ms (missed cycles : 3). + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525562 ms (missed cycles : 3).[0m ×2 + 54.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 55.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635629 ms (missed cycles : 4). + 55.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635629 ms (missed cycles : 4).[0m ×2 + 56.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 56.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 56.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 58.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 58.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 59.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 59.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 60.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 60.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 60.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 61.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 61.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 61.40sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 61.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 61.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 61.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 61.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 62.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 62.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 62.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 62.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 63.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 186 warnings · 206 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.86sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.86sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.638ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042898 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042898 ms (missed cycles : 3).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.414ms + 6.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.082ms + 7.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.793ms + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838692 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838692 ms (missed cycles : 4).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842327 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842327 ms (missed cycles : 2).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.007ms + 9.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.561ms + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123107 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123107 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.030ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290524 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290524 ms (missed cycles : 2).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.653ms + 11.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.448ms + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.024ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.983ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790069 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.790069 ms (missed cycles : 4).[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.551ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.366ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208957 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208957 ms (missed cycles : 5).[0m ×2 + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.667ms + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.076ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.649ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000434 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000434 ms (missed cycles : 2).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.957ms + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.369ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869527 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869527 ms (missed cycles : 2).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.959ms + 15.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.757ms + 15.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.049ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810232 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810232 ms (missed cycles : 3).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.217ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485555 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485555 ms (missed cycles : 3).[0m ×2 + 17.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.929ms + 17.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.017ms + 17.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.884ms + 17.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.139ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934037 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934037 ms (missed cycles : 3).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.714ms + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.387ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560336 ms (missed cycles : 4). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560336 ms (missed cycles : 4).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.713ms + 19.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057148 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057148 ms (missed cycles : 2).[0m ×2 + 20.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 20.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.915ms + 20.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 21.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.015ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045319 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045319 ms (missed cycles : 2).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.640ms + 22.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.737ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014499 ms (missed cycles : 4). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014499 ms (missed cycles : 4).[0m ×2 + 22.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.423ms + 22.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 23.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.108ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866390 ms (missed cycles : 2). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866390 ms (missed cycles : 2).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.789ms + 24.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.564ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930756 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930756 ms (missed cycles : 2).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.373ms + 25.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.872ms + 25.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.261ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.229244 ms (missed cycles : 8). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.229244 ms (missed cycles : 8).[0m ×2 + 25.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.044ms + 26.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616636 ms (missed cycles : 4). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616636 ms (missed cycles : 4).[0m ×2 + 26.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.805ms + 26.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.897ms + 27.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.519ms + 27.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212893 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212893 ms (missed cycles : 2).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.832ms ×2 + 28.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.405ms + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148809 ms (missed cycles : 4). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148809 ms (missed cycles : 4).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.883ms + 29.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.521ms + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199501 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199501 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.691ms + 30.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.820ms + 30.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956753 ms (missed cycles : 6). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956753 ms (missed cycles : 6).[0m ×2 + 31.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.840ms + 31.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.850ms + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050419 ms (missed cycles : 3). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050419 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.298ms + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866644 ms (missed cycles : 3). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866644 ms (missed cycles : 3).[0m ×2 + 33.07sWARNobjective_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 + 33.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.206ms + 33.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239016 ms (missed cycles : 4). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239016 ms (missed cycles : 4).[0m ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617089 ms (missed cycles : 4). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617089 ms (missed cycles : 4).[0m ×2 + 35.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766732 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766732 ms (missed cycles : 2).[0m ×2 + 36.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.239ms + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910837 ms (missed cycles : 3). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910837 ms (missed cycles : 3).[0m ×2 + 38.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.469ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027955 ms (missed cycles : 3). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027955 ms (missed cycles : 3).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.979ms + 38.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.034ms + 39.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 39.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.650ms + 39.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.103ms + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001903 ms (missed cycles : 3). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001903 ms (missed cycles : 3).[0m ×2 + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518016 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518016 ms (missed cycles : 3).[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985695 ms (missed cycles : 3). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985695 ms (missed cycles : 3).[0m ×2 + 41.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.997ms + 41.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.097ms + 42.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.703ms + 42.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.045ms + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679036 ms (missed cycles : 2). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679036 ms (missed cycles : 2).[0m ×2 + 43.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102305 ms (missed cycles : 3). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102305 ms (missed cycles : 3).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496234 ms (missed cycles : 3). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496234 ms (missed cycles : 3).[0m ×2 + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042139 ms (missed cycles : 5). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042139 ms (missed cycles : 5).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217372 ms (missed cycles : 4). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217372 ms (missed cycles : 4).[0m ×2 + 46.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.360ms + 46.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.602ms + 47.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.500ms + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834521 ms (missed cycles : 3). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834521 ms (missed cycles : 3).[0m ×2 + 48.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.142ms + 48.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.166ms + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890267 ms (missed cycles : 2). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890267 ms (missed cycles : 2).[0m ×2 + 49.64sINFOros2_control_nodeMuJoCo sim: 1.18% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513863 ms (missed cycles : 4). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513863 ms (missed cycles : 4).[0m ×2 + 50.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.777ms + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284506 ms (missed cycles : 3). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284506 ms (missed cycles : 3).[0m ×2 + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057689 ms (missed cycles : 2). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057689 ms (missed cycles : 2).[0m ×2 + 52.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.065ms + 52.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.920ms + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257080 ms (missed cycles : 5). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257080 ms (missed cycles : 5).[0m ×2 + 53.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.961ms + 53.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.993ms + 54.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141477 ms (missed cycles : 3). + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141477 ms (missed cycles : 3).[0m ×2 + 54.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.824ms + 54.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.746ms + 54.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.080ms + 55.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130000 ms (missed cycles : 2). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130000 ms (missed cycles : 2).[0m ×2 + 55.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.689ms + 55.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.813ms + 56.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.055149 ms (missed cycles : 7). + 56.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.055149 ms (missed cycles : 7).[0m ×2 + 56.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.823ms + 56.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.106ms + 56.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.101ms + 56.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 57.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.947ms + 57.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.585ms + 57.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183035 ms (missed cycles : 4). + 57.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183035 ms (missed cycles : 4).[0m ×2 + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282431 ms (missed cycles : 2). + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282431 ms (missed cycles : 2).[0m ×2 + 58.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.008ms + 58.69sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782410592.28635359 seconds ×3 + 58.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.800ms + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732794 ms (missed cycles : 3). + 59.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732794 ms (missed cycles : 3).[0m ×2 + 59.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.734ms + 59.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782410592.84635091 seconds. ×3 + 59.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.656ms + 59.58sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 59.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694092 ms (missed cycles : 7). + 60.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694092 ms (missed cycles : 7).[0m ×2 + 61.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 61.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.953ms + 61.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544972 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544972 ms (missed cycles : 2).[0m ×2 + 61.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.069ms + 61.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 61.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 170 warnings · 218 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.05sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.05sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.40sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.40sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.41sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.78sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.78sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.79sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.04sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.04sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.06sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.06sINFOros2Loaded joint_state_broadcaster ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.08sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.08sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.43sINFOros2-10process has finished cleanly [pid 10292] ×2 + 1.83sWARNobjective_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 + 1.83sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.83sINFOobjective_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 + 1.83sINFOobjective_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 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 3.71sINFOobjective_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 + 3.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.75sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 3.86sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.40sWARNobjective_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 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930763 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930763 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.669510 ms (missed cycles : 6). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.669510 ms (missed cycles : 6).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480092 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480092 ms (missed cycles : 4).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268758 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268758 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752457 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752457 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377656 ms (missed cycles : 5). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377656 ms (missed cycles : 5).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553768 ms (missed cycles : 3). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553768 ms (missed cycles : 3).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211615 ms (missed cycles : 5). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211615 ms (missed cycles : 5).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761985 ms (missed cycles : 5). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761985 ms (missed cycles : 5).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052170 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052170 ms (missed cycles : 2).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058235 ms (missed cycles : 3). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058235 ms (missed cycles : 3).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691390 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691390 ms (missed cycles : 3).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508349 ms (missed cycles : 4). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508349 ms (missed cycles : 4).[0m ×2 + 20.46sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 1.974ms + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721431 ms (missed cycles : 3). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721431 ms (missed cycles : 3).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969563 ms (missed cycles : 4). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969563 ms (missed cycles : 4).[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587355 ms (missed cycles : 3). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587355 ms (missed cycles : 3).[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859514 ms (missed cycles : 4). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859514 ms (missed cycles : 4).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958017 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958017 ms (missed cycles : 3).[0m ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174570 ms (missed cycles : 2). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174570 ms (missed cycles : 2).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025299 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025299 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305889 ms (missed cycles : 2). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305889 ms (missed cycles : 2).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549236 ms (missed cycles : 4). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549236 ms (missed cycles : 4).[0m ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601510 ms (missed cycles : 2). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601510 ms (missed cycles : 2).[0m ×2 + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.073639 ms (missed cycles : 7). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.073639 ms (missed cycles : 7).[0m ×2 + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684472 ms (missed cycles : 2). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684472 ms (missed cycles : 2).[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155932 ms (missed cycles : 5). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155932 ms (missed cycles : 5).[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400264 ms (missed cycles : 4). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400264 ms (missed cycles : 4).[0m ×2 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317102 ms (missed cycles : 4). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.317102 ms (missed cycles : 4).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209098 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209098 ms (missed cycles : 2).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946464 ms (missed cycles : 3). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946464 ms (missed cycles : 3).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779338 ms (missed cycles : 3). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779338 ms (missed cycles : 3).[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319725 ms (missed cycles : 4). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319725 ms (missed cycles : 4).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080093 ms (missed cycles : 2). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080093 ms (missed cycles : 2).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359776 ms (missed cycles : 4). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359776 ms (missed cycles : 4).[0m ×2 + 43.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130378 ms (missed cycles : 2). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130378 ms (missed cycles : 2).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2).[0m ×2 + 47.29sINFOjoint_trajectory_controllerGoal reached, success! + 47.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782410266.66459846 seconds ×3 + 47.45sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.761ms + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2). + 47.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2).[0m ×2 + 47.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782410267.21593904 seconds. ×3 + 48.16sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 1.640ms + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4).[0m ×2 + 48.81sINFOobjective_server_nodeFound path in 0 iterations (2.1381e-05 s). ×2 + 48.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 114 warnings · 160 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.738ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467450 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467450 ms (missed cycles : 3).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.318ms + 1.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.836ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238780 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238780 ms (missed cycles : 2).[0m ×2 + 2.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782410331.72332525 seconds ×3 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.588ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.898ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452011 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452011 ms (missed cycles : 4).[0m ×2 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.314ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 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 + 3.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782410333.27569056 seconds. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771020 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771020 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397248 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397248 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.69sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.69sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.859ms + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.178ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738130 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738130 ms (missed cycles : 4).[0m ×2 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.267ms + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.654ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434730 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434730 ms (missed cycles : 4).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.164ms + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.545ms + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.074ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381204 ms (missed cycles : 4). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381204 ms (missed cycles : 4).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.765ms + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.579ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475898 ms (missed cycles : 4). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475898 ms (missed cycles : 4).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.751ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846327 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846327 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.166ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.326ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.048ms + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.584ms + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054026 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054026 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.746ms + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.695ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907452 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907452 ms (missed cycles : 2).[0m ×2 + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.115ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.819ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.792ms + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.102ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.885ms + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037290 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037290 ms (missed cycles : 2).[0m ×2 + 13.71sINFOros2_control_nodeMuJoCo sim: 0.87% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.411ms + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.868ms + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.572ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.387ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947009 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947009 ms (missed cycles : 2).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.320ms + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.626ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864715 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864715 ms (missed cycles : 2).[0m ×2 + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.293ms + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.784ms + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.077ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071378 ms (missed cycles : 5). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071378 ms (missed cycles : 5).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.617ms + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.310ms + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929289 ms (missed cycles : 6). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929289 ms (missed cycles : 6).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 18.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.686ms + 18.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms ×2 + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290697 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290697 ms (missed cycles : 2).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.169ms + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.285864 ms (missed cycles : 7). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.285864 ms (missed cycles : 7).[0m ×2 + 20.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.494ms + 20.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.433ms + 20.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.935ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665102 ms (missed cycles : 2). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665102 ms (missed cycles : 2).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 21.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.127ms + 21.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628996 ms (missed cycles : 2). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628996 ms (missed cycles : 2).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.691ms + 22.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.539ms + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046043 ms (missed cycles : 8). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.046043 ms (missed cycles : 8).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.349ms + 23.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.191ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667707 ms (missed cycles : 4). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667707 ms (missed cycles : 4).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.448ms + 24.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.969ms + 24.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.864ms + 24.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.818ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741065 ms (missed cycles : 2). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741065 ms (missed cycles : 2).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.293ms + 25.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.540ms + 25.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.535ms + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526375 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526375 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 26.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.261ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707016 ms (missed cycles : 6). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707016 ms (missed cycles : 6).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.767ms + 27.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.754ms + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671069 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671069 ms (missed cycles : 3).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.916ms + 28.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.200ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228419 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228419 ms (missed cycles : 2).[0m ×2 + 29.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.584ms + 29.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022119 ms (missed cycles : 2). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022119 ms (missed cycles : 2).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 31.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2).[0m ×2 + 31.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.028ms + 32.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.820ms + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.784ms + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5).[0m ×2 + 34.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782410363.59586930 seconds ×3 + 34.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.768ms + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4).[0m ×2 + 34.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.213ms + 34.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782410364.16586447 seconds. ×3 + 34.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 34.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 35.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 35.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 35.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.414ms + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5).[0m ×2 + 35.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.920ms + 35.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.355ms + 36.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.745ms + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4).[0m ×2 + 36.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 37.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 64 warnings · 181 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.080ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130000 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130000 ms (missed cycles : 2).[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.689ms + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.813ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.055149 ms (missed cycles : 7). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.055149 ms (missed cycles : 7).[0m ×2 + 1.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.823ms + 1.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.106ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.101ms + 1.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.947ms + 2.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.585ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183035 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183035 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282431 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282431 ms (missed cycles : 2).[0m ×2 + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.008ms + 3.82sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.82sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782410592.28635359 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.800ms + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732794 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732794 ms (missed cycles : 3).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.734ms + 4.40sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×3 + 4.40sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 4.40sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 4.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782410592.84635091 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.656ms + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.79sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.79sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694092 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.694092 ms (missed cycles : 7).[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 6.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.953ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544972 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544972 ms (missed cycles : 2).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.069ms + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 6.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 6.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.395ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668692 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668692 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690348 ms (missed cycles : 6). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690348 ms (missed cycles : 6).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 8.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.562ms + 8.95sINFOobjective_server_nodeFound path in 0 iterations (8.4e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×4 + 9.04sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (9.2e-07 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.887ms + 9.30sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (1.07e-06 s). ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 9.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 9.61sINFOobjective_server_nodeFound path in 29 iterations (0.0285595 s). ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272480 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272480 ms (missed cycles : 2).[0m ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.932ms + 10.31sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.173ms + 10.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.67sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.402ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520162 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520162 ms (missed cycles : 4).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.230ms + 11.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.494ms + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.957ms + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.169ms + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.745ms + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019169 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019169 ms (missed cycles : 2).[0m ×2 + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.595ms + 12.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.426ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087669 ms (missed cycles : 6). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087669 ms (missed cycles : 6).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.406ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.296ms + 14.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.502ms + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.933ms + 15.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.140ms + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 15.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 16.67sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782410605.09441495 seconds ×3 + 16.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.865ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2).[0m ×2 + 17.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 17.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782410605.70219660 seconds. ×3 + 17.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.28sINFOmove_groupClearing octomap...[0m ×2 + 17.28sINFOmove_groupOctomap cleared.[0m ×2 + 17.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.619ms + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 17.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782410606.16234732 seconds ×3 + 17.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.522ms + 17.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 17.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.454ms + 18.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 18.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.255ms + 18.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782410606.71503544 seconds. ×3 + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 18.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.657ms + 18.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782410607.20518422 seconds ×3 + 18.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.580ms + 19.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240797 ms (missed cycles : 3). + 19.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.892ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 75 errors · 42 warnings · 418 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3).[0m ×2 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.296ms + 0.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.502ms + 0.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.933ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.140ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 2.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782410605.09441495 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.865ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 3.33sWARNobjective_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 + 3.33sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.33sINFOobjective_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 + 3.33sINFOobjective_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 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782410605.70219660 seconds. ×3 + 3.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.619ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782410606.16234732 seconds ×3 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.522ms + 3.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 4.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.454ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.255ms + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782410606.71503544 seconds. ×3 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 4.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.657ms + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782410607.20518422 seconds ×3 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.580ms + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240797 ms (missed cycles : 3). + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.892ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.561ms + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240797 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912026 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912026 ms (missed cycles : 3).[0m ×2 + 6.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.944ms + 6.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.620ms + 7.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.093ms + 7.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920419 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920419 ms (missed cycles : 3).[0m ×2 + 8.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.827ms ×2 + 8.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.179ms + 8.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.930ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587841 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587841 ms (missed cycles : 2).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.395ms + 9.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.013ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885328 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885328 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932047 ms (missed cycles : 5). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.932047 ms (missed cycles : 5).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.932ms + 11.29sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 11.31sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 11.39sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.41sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.43sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.45sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.47sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.48sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.700ms + 11.50sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.52sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.55sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.57sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.58sINFOweb_video_server-30process has finished cleanly [pid 10376] ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204454 ms (missed cycles : 6). + 11.60sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.60sINFOcontroller_managerShutdown request received.... + 11.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.60sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.60sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.60sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.60sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.60sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.60sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down the controller manager. + 11.62sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.63sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.64sERRORmove_group-19process has died [pid 10301, 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_4hzbmng9 --params-file /tmp/launch_params_8k192xfw --params-file /tmp/launch_params_9680f4zf --params-file /tmp/launch_params_6t5p45gq --params-file /tmp/launch_params_sinq14yy --params-file /tmp/launch_params_iabjcjr7 --params-file /tmp/launch_params_fq7sftb6 --params-file /tmp/launch_params_jevov0ru --params-file /tmp/launch_params_nueiihnu']. ×2 + 11.65sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.66sINFOtf2_web_republisher_node-29process has finished cleanly [pid 10375] ×2 + 11.67sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.69sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.70sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.70sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.70sINFOcontroller_serverCleaning up + 11.71sINFOlocal_costmap.local_costmapCleaning up + 11.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.71sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.71sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.71sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.71sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.71sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.71sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.71sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.71sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.71sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.71sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.71sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.71sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.71sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.71sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.72sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.72sERRORmove_groupStack trace (most recent call last) in thread 10855: ×2 + 11.72sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.72sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff045180a63, in __clone ×2 + 11.72sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0450f3aa3, in ×2 + 11.72sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff045385db3, in ×2 + 11.72sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff0459da1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.72sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff0456f84d0, in rclcpp::Rate::sleep() ×2 + 11.72sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff04564ba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.72sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff045610a71, in ×2 + 11.72sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff045354390, in __cxa_throw ×2 + 11.72sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff04533ea54, in std::terminate() ×2 + 11.72sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff0453540d9, in ×2 + 11.72sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff04533eff4, in ×2 + 11.72sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff04507f8fe, in abort ×2 + 11.72sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff04509c27d, in raise ×2 + 11.72sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0450f5b2c, in pthread_kill ×2 + 11.72sERRORmove_groupAborted (Signal sent by tkill() 10301 0) ×2 + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204454 ms (missed cycles : 6).[0m ×2 + 11.72sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.72sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.72sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.72sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.72sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.72sINFOobjective_server_node[2026-06-25 18:03:33.934] [moveit_pro_license] [info] ×2 + 11.72sINFOobjective_server_node************************************************* ×4 + 11.72sINFOobjective_server_node* MoveIt Pro License ×2 + 11.72sINFOobjective_server_node* Application has successfully terminated ×2 + 11.72sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.73sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.73sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.73sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.73sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.73sINFOodom_qos_relay.pymain() ×2 + 11.73sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.73sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.73sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.73sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.73sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.73sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.73sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.73sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.73sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.73sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.73sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.73sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.73sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555b7ec226a4, in _start ×2 + 11.73sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48e01d28a, in __libc_start_main ×2 + 11.73sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48e01d1d0, in ×2 + 11.73sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48e03abbd, in exit ×2 + 11.73sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd48e03aa75, in ×2 + 11.73sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd48e50c4a2, in spdlog::details::registry::~registry() ×2 + 11.73sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd48e51769d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.73sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fd48e511965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.73sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555b7ec29315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.73sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555b7ec285a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.73sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555b7ec24b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.73sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x555b7ec22d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.73sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48ebb3454, in rclcpp::Node::~Node() ×2 + 11.73sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48eb6e515, in ×2 + 11.73sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48ebb1d20, in ×2 + 11.73sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48ebb1c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.73sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48eb6e5d9, in ×2 + 11.73sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd48eb73161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.73sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fd43934d120]) ×2 + 11.73sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.74sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.74sERRORobjective_server_node_main-24process has died [pid 10367, 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_409q5r_1 --params-file /tmp/launch_params_tdw80kxw --params-file /tmp/launch_params_g9kd7i6f --params-file /tmp/launch_params_avbr118v --params-file /tmp/launch_params_67hiib5_ --params-file /tmp/launch_params_jd32lg3m --params-file /tmp/launch_params_mbn_bj03 --params-file /tmp/launch_params_8w20wwfi --params-file /tmp/launch_params_82irzys5']. ×2 + 11.74sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.75sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.75sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.75sINFOmap_serverDeactivating + 11.75sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.76sINFOmap_serverCleaning up + 11.76sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.76sINFOsmoother_serverCleaning up + 11.77sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.77sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.77sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.77sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.77sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.79sERRORamclThe bond connection to the lifecycle manager has been broken + 11.80sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.80sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.80sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.80sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.80sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.80sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.80sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.80sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.80sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.81sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.81sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.81sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.54sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 10350] ×2 + 12.55sERRORui_teleop_bridge-27process has died [pid 10373, 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_xj8r77ub']. ×2 + 12.55sINFOexecute_objective_bridge-26process has finished cleanly [pid 10372] ×2 + 12.56sINFOmove_joint_resampler_node-22process has finished cleanly [pid 10308] ×2 + 12.61sINFOparameter_manager_node-20process has finished cleanly [pid 10302] ×2 + 12.63sINFOwaypoint_manager_node-21process has finished cleanly [pid 10303] ×2 + 12.66sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 10222] ×2 + 12.68sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 10221] ×2 + 12.71sINFOstatic_transform_publisher-3process has finished cleanly [pid 10219] ×2 + 12.73sINFOstatic_transform_publisher-2process has finished cleanly [pid 10218] ×2 + 12.75sINFOcomponent_container_mt-25process has finished cleanly [pid 10368] ×2 + 12.76sERRORodom_qos_relay.py-4process has died [pid 10220, 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 + 13.31sERRORcomponent_container_isolated-1process has died [pid 10217, 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_hfles85b --params-file /tmp/launch_params_d0baj7ba -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.07sINFOweb_bridge-28process has finished cleanly [pid 10374] ×2 + 14.07sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 14.42sINFOros2_control_node-7process has finished cleanly [pid 10223] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 6 errors · 57 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800252 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600926 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600926 ms (missed cycles : 2).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.363ms + 1.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.063ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024248 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.024248 ms (missed cycles : 6).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628232 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628232 ms (missed cycles : 3).[0m ×2 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.123ms + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.363ms + 3.69sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.69sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.69sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.69sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1782410454.79823112 seconds ×3 + 3.74sWARNobjective_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 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.74sINFOobjective_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 + 3.74sINFOobjective_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 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782410454.83193374 seconds. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262303 ms (missed cycles : 7). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262303 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.647683 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.647683 ms (missed cycles : 7).[0m ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.815ms + 5.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.940ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.252651 ms (missed cycles : 7). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.252651 ms (missed cycles : 7).[0m ×2 + 7.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.003ms + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118369 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118369 ms (missed cycles : 2).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.488ms + 8.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.015ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415927 ms (missed cycles : 6). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415927 ms (missed cycles : 6).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.086ms + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.252ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747946 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747946 ms (missed cycles : 3).[0m ×2 + 9.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.724ms + 10.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685527 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685527 ms (missed cycles : 3).[0m ×2 + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.203ms + 11.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.958ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684344 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684344 ms (missed cycles : 3).[0m ×2 + 11.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.562ms + 12.15sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.893ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610000 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610000 ms (missed cycles : 3).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.152ms + 13.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.645ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902256 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902256 ms (missed cycles : 2).[0m ×2 + 13.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.984ms + 14.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782410465.21609473 seconds ×3 + 14.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.208ms + 14.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.832ms + 14.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.496ms + 14.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.260ms + 14.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782410465.76765013 seconds. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854152 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854152 ms (missed cycles : 2).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.896ms + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.870ms + 15.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.128ms + 15.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.272ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938018 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938018 ms (missed cycles : 3).[0m ×2 + 16.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.436ms + 16.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.790ms + 16.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.915ms + 16.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.305ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996979 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996979 ms (missed cycles : 2).[0m ×2 + 17.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.307ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 43 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 4.34sWARNobjective_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 + 4.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.34sINFOobjective_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 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms + 7.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 7.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.738ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467450 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467450 ms (missed cycles : 3).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.318ms + 8.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.836ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238780 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238780 ms (missed cycles : 2).[0m ×2 + 8.39sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782410331.72332525 seconds ×3 + 8.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.588ms + 8.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.898ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452011 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.452011 ms (missed cycles : 4).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.314ms + 9.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 9.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782410333.27569056 seconds. ×3 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771020 ms (missed cycles : 6). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771020 ms (missed cycles : 6).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397248 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397248 ms (missed cycles : 3).[0m ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.859ms + 12.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.178ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738130 ms (missed cycles : 4). | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 36 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782410266.66459846 seconds ×3 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.761ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2).[0m ×2 + 3.27sWARNobjective_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 + 3.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.28sINFOobjective_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 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782410267.21593904 seconds. ×3 + 3.57sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 1.640ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.1381e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593207 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593207 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782410270.28613973 seconds ×3 + 6.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782410270.84083152 seconds. ×3 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2).[0m ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.048807 ms (missed cycles : 8). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.048807 ms (missed cycles : 8).[0m ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114100 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114100 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 30 warnings · 69 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.426ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087669 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087669 ms (missed cycles : 6).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.406ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.296ms + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.502ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.933ms + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.140ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782410605.09441495 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.865ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 4.44sWARNobjective_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 + 4.44sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.44sINFOobjective_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 + 4.44sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782410605.70219660 seconds. ×3 + 4.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.50sINFOmove_groupClearing octomap...[0m ×2 + 4.50sINFOmove_groupOctomap cleared.[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.619ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782410606.16234732 seconds ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.522ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.454ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2).[0m ×2 + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.255ms + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782410606.71503544 seconds. ×3 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.657ms + 6.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782410607.20518422 seconds ×3 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.580ms + 6.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240797 ms (missed cycles : 3). + 6.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.892ms + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.561ms + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240797 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912026 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912026 ms (missed cycles : 3).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.944ms + 7.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.620ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 68 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782410266.66459846 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.17sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.761ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2).[0m ×2 + 0.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 0.58sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 0.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782410267.21593904 seconds. ×3 + 0.87sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 1.640ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (2.1381e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4).[0m ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593207 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593207 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782410270.28613973 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782410270.84083152 seconds. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888978 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.048807 ms (missed cycles : 8). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.048807 ms (missed cycles : 8).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114100 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114100 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 4.34sWARNobjective_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 + 4.34sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 4.34sWARNobjective_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 + 4.34sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782410266.66459846 seconds ×3 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.761ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2).[0m ×2 + 3.27sWARNobjective_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 + 3.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.28sINFOobjective_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 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782410267.21593904 seconds. ×3 + 3.57sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 1.640ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.1381e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.573903 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.383118 ms (missed cycles : 7).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720724 ms (missed cycles : 2).[0m ×2 + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782410266.66459846 seconds ×3 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 1.761ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326593 ms (missed cycles : 2).[0m ×2 + 3.27sWARNobjective_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 + 3.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.28sINFOobjective_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 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782410267.21593904 seconds. ×3 + 3.57sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 1.640ms + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769805 ms (missed cycles : 4).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.1381e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOjoint_trajectory_controllerReceived new action goal + 4.25sINFOjoint_trajectory_controllerAccepted new action goal + 4.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367935 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 4.34sWARNobjective_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 + 4.34sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 4.34sWARNobjective_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 + 4.34sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818612 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170202 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117897 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206224 ms (missed cycles : 3).[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! + 3.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782410327.11103058 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.633ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.246730 ms (missed cycles : 6).[0m ×2 + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.152ms + 4.34sWARNobjective_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 + 4.34sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.34sINFOobjective_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 + 4.34sINFOobjective_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 + 4.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782410327.68317199 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.73sINFOjoint_trajectory_controllerReceived new action goal + 4.73sINFOjoint_trajectory_controllerAccepted new action goal + 4.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.363ms + 5.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.423ms + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574282 ms (missed cycles : 4).[0m ×2 + 6.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.160ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.028ms + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.820ms + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.784ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782410363.59586930 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.768ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.213ms + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782410364.16586447 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 723 points - 10.690ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.414ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.920ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.355ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.745ms + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4).[0m ×2 + 6.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 6.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.028ms + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.820ms + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.784ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782410363.59586930 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.768ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.213ms + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782410364.16586447 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 723 points - 10.690ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.414ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.920ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.355ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.745ms + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4).[0m ×2 + 6.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 6.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.887ms + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419111 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.028ms + 1.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.820ms + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700200 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.784ms + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065744 ms (missed cycles : 5).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782410363.59586930 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.768ms + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519274 ms (missed cycles : 4).[0m ×2 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.213ms + 4.26sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.26sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.26sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782410364.16586447 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 723 points - 10.690ms + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.634ms + 5.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.414ms + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.266773 ms (missed cycles : 5).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.920ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.355ms + 5.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.745ms + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4).[0m ×2 + 6.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 6.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.814ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 0.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672661 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.048ms + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456739 ms (missed cycles : 2).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595379 ms (missed cycles : 4).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.324ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410537.00782204 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310426 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.420ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 3.98sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.98sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410537.58615160 seconds. ×3 + 4.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617204 ms (missed cycles : 4).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.057ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926106 ms (missed cycles : 2).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 5.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.86sINFOjoint_trajectory_controllerReceived new action goal + 5.86sINFOjoint_trajectory_controllerAccepted new action goal + 5.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.86sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 25 warnings · 66 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.426ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087669 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087669 ms (missed cycles : 6).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 0.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.406ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582585 ms (missed cycles : 3).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.296ms + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.502ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941522 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.933ms + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.140ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.111ms + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688342 ms (missed cycles : 5).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782410605.09441495 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.865ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754889 ms (missed cycles : 2).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 4.44sWARNobjective_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 + 4.44sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.44sINFOobjective_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 + 4.44sINFOobjective_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 + 4.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782410605.70219660 seconds. ×3 + 4.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.50sINFOmove_groupClearing octomap...[0m ×2 + 4.50sINFOmove_groupOctomap cleared.[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.619ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782410606.16234732 seconds ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.522ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.454ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324228 ms (missed cycles : 2).[0m ×2 + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.255ms + 5.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782410606.71503544 seconds. ×3 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.657ms + 6.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782410607.20518422 seconds ×3 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.580ms + 6.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240797 ms (missed cycles : 3). + 6.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.892ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 27.3s | 59 errors · 810 warnings · 1852 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/2026-06-25-17-49-26-489801-2c112a69f238-9143 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 13.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×3 + 13.43sINFOros2_control_node-7process started with pid [9198] + 13.43sINFOmove_group-19process started with pid [9276] + 13.43sINFOparameter_manager_node-20process started with pid [9277] + 13.44sINFOwaypoint_manager_node-21process started with pid [9278] + 13.44sINFOmove_joint_resampler_node-22process started with pid [9279] + 13.44sINFOmove_end_effector_resampler_node-23process started with pid [9324] + 13.44sINFOobjective_server_node_main-24process started with pid [9327] + 13.44sINFOcomponent_container_mt-25process started with pid [9328] + 13.44sINFOexecute_objective_bridge-26process started with pid [9329] + 13.44sINFOui_teleop_bridge-27process started with pid [9330] + 13.44sINFOweb_bridge-28process started with pid [9331] + 13.44sINFOtf2_web_republisher_node-29process started with pid [9332] + 13.44sINFOweb_video_server-30process started with pid [9349] + 13.45sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 13.45sINFOcomponent_container_isolated-1process started with pid [9192] + 13.45sINFOstatic_transform_publisher-2process started with pid [9193] + 13.45sINFOstatic_transform_publisher-3process started with pid [9194] + 13.45sINFOodom_qos_relay.py-4process started with pid [9195] + 13.45sINFOscan_to_scan_filter_chain-5process started with pid [9196] + 13.46sINFOscan_to_scan_filter_chain-6process started with pid [9197] + 13.46sINFOros2-8process started with pid [9199] + 13.46sINFOros2-9process started with pid [9266] + 13.46sINFOros2-10process started with pid [9267] + 13.46sINFOros2-11process started with pid [9268] + 13.46sINFOros2-12process started with pid [9269] + 13.46sINFOros2-13process started with pid [9270] + 13.46sINFOros2-14process started with pid [9271] + 13.46sINFOros2-15process started with pid [9272] + 13.46sINFOros2-16process started with pid [9273] + 13.46sINFOros2-17process started with pid [9274] + 13.46sINFOros2-18process started with pid [9275] + 13.57sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 13.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 13.57sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 13.57sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 13.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 13.58sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×3 + 13.58sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×3 + 13.59sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 13.59sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 13.59sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 13.59sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 13.59sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 13.59sWARNros2_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 ×3 + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281695 ms (missed cycles : 2).[0m + 13.61sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 13.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×3 + 13.74sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×3 + 13.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 13.79sINFOcomponent_container_mtRobot initialized[0m ×3 + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×3 + 13.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 13.82sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 13.82sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 13.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 13.86sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 13.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×3 + 14.05sINFOmove_groupLoaded robot model in 0.259491 seconds[0m + 14.05sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.05sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.20sWARNscan_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. ×6 + 14.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.29sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×3 + 14.29sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×3 + 14.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×3 + 14.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×3 + 14.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×3 + 14.30sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×3 + 14.30sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×3 + 14.30sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×3 + 14.30sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×3 + 14.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 14.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 14.54sINFOwaypoint_manager_nodeLoaded robot model in 0.32377 seconds[0m + 14.54sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 14.54sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698608 ms (missed cycles : 4).[0m + 14.77sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 14.77sWARNmove_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 ×3 + 14.77sWARNmove_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 ×3 + 14.77sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 14.78sWARNmove_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 ×3 + 15.07sWARNwaypoint_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 ×3 + 15.07sWARNwaypoint_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 ×3 + 15.07sWARNwaypoint_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 ×3 + 15.07sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.08sWARNwaypoint_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 ×3 + 15.09sWARNwaypoint_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 ×3 + 15.09sWARNwaypoint_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 ×3 + 15.09sWARNwaypoint_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 ×3 + 15.09sWARNwaypoint_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 ×3 + 15.09sWARNwaypoint_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 ×3 + 15.09sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.10sWARNwaypoint_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 ×3 + 15.11sINFOros2waiting for service /controller_manager/list_controllers to become available... ×15 + 15.30sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 15.30sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 15.30sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 15.30sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.30sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 15.30sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 15.30sINFOmove_groupStarting planning scene monitor[0m ×3 + 15.30sINFOmove_groupListening to '/planning_scene'[0m ×3 + 15.31sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 15.31sINFOmove_groupListening to 'collision_object'[0m ×3 + 15.31sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 15.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 15.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 15.53sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 15.53sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 15.54sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 16.11sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 16.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 16.12sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 16.12sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 16.12sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 16.12sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 16.12sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 16.12sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 16.12sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 16.12sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 16.12sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 16.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 16.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 16.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 16.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 16.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 16.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 16.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 16.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 16.15sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×3 + 16.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×3 + 16.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×3 + 16.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×3 + 16.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×3 + 16.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×3 + 16.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×3 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 16.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 16.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 16.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 16.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 16.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 16.39sINFOobjective_server_node[2026-06-25 17:49:46.052] [moveit_pro_license] [info] + 16.39sINFOobjective_server_node************************************************* ×8 + 16.39sINFOobjective_server_node* MoveIt Pro License ×4 + 16.39sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.44sINFOros2Loaded joint_trajectory_controller ×3 + 16.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 16.44sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 16.44sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 16.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 16.44sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 16.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 16.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123708 ms (missed cycles : 2).[0m + 16.49sINFOobjective_server_nodeLoaded robot model in 0.0238844 seconds[0m + 16.49sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 16.49sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 16.56sWARNcomponent_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 ×3 + 16.83sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 16.83sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 16.83sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 16.85sINFOros2-14process has finished cleanly [pid 9271] + 16.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 16.88sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.88sWARNobjective_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 ×3 + 16.89sWARNobjective_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 ×3 + 16.90sINFOros2Loaded vacuum_gripper ×3 + 16.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 16.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 16.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 16.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 16.92sINFOros2Configured and activated vacuum_gripper ×3 + 16.95sINFOobjective_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. ×3 + 16.95sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 16.98sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 16.98sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 16.98sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 16.98sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 16.98sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 16.98sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 16.98sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 16.98sINFOcomponent_container_mtLoaded robot model in 0.423524 seconds[0m + 16.98sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 16.98sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 17.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 17.27sINFOros2-12process has finished cleanly [pid 9269] + 17.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 17.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 17.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 17.34sWARNcomponent_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 ×3 + 17.34sWARNcomponent_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 ×3 + 17.34sWARNcomponent_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 ×3 + 17.34sWARNcomponent_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 ×3 + 17.35sINFOros2Loaded joint_state_broadcaster ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 17.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 17.35sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 17.35sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.35sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.36sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sWARNcomponent_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 ×3 + 17.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 17.38sINFOros2Configured and activated joint_state_broadcaster ×3 + 17.44sWARNobjective_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/. ×3 + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.251309 ms (missed cycles : 8).[0m + 17.66sINFOros2-10process has finished cleanly [pid 9267] + 17.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 17.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 17.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 17.75sINFOros2Loaded platform_velocity_controller_nav2 ×3 + 17.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 17.77sINFOros2_control_nodeconfigure successful[0m ×9 + 17.77sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 17.77sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 17.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 17.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 17.92sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×3 + 17.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 17.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 18.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 18.00sINFOmove_groupTrajectory execution is managing controllers[0m ×3 + 18.00sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 18.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 18.06sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 18.07sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×3 + 18.15sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 18.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 18.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 18.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 18.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 18.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 18.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 18.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 18.17sINFOros2-13process has finished cleanly [pid 9270] + 18.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.24sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×3 + 18.27sINFOcomponent_container_mtStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.27sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.27sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.27sINFOcomponent_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 ×3 + 18.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×3 + 18.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 18.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 18.35sINFOros2Loaded velocity_force_controller ×3 + 18.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 18.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 18.37sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 18.43sINFOmove_group ×12 + 18.43sINFOmove_group******************************************************** ×6 + 18.43sINFOmove_group* MoveGroup using: ×3 + 18.43sINFOmove_group* - apply_planning_scene_service ×3 + 18.43sINFOmove_group* - clear_octomap_service ×3 + 18.43sINFOmove_group* - ExecuteTaskSolution ×3 + 18.43sINFOmove_group* - get_group_urdf ×3 + 18.43sINFOmove_group* - load_geometry_from_file ×3 + 18.43sINFOmove_group* - get_planning_scene_service ×3 + 18.43sINFOmove_group* - kinematics_service ×3 + 18.43sINFOmove_group* - save_geometry_to_file ×3 + 18.43sINFOmove_group* - GetPlanningGroups ×3 + 18.43sINFOmove_group* - SetActiveControllerService ×3 + 18.43sINFOmove_group* - URDFPlanningSceneCapability ×3 + 18.43sINFOmove_group[0m ×3 + 18.43sINFOmove_group[92mYou can start planning now![0m ×3 + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673753 ms (missed cycles : 2).[0m + 18.75sINFOros2_control_node[2026-06-25 17:49:48.407] [warning] No force/torque sensor configured. The VFC will ignore force references. + 18.75sINFOros2_control_node[2026-06-25 17:49:48.412] [info] Controller state will be published at 10 Hz. + 18.76sINFOros2_control_node[2026-06-25 17:49:48.414] [info] VelocityForceController 'on_configure' succeeded. + 19.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 19.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 19.13sINFOros2-15process has finished cleanly [pid 9272] + 19.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 19.16sINFOros2Loaded force_torque_sensor_broadcaster ×3 + 19.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 19.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 19.18sINFOros2Configured and activated force_torque_sensor_broadcaster ×3 + 19.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368071 ms (missed cycles : 4).[0m + 19.65sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 19.65sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 19.65sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 19.70sINFOros2-8process has finished cleanly [pid 9199] + 19.73sINFOros2Loaded platform_velocity_controller ×3 + 19.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 19.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 19.74sINFOros2Configured and activated platform_velocity_controller ×3 + 20.09sINFOros2-11process has finished cleanly [pid 9268] + 20.36sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 20.36sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 20.37sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 20.40sINFOros2Loaded imu_sensor_broadcaster ×3 + 20.40sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 20.41sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 20.41sINFOros2Configured and activated imu_sensor_broadcaster ×3 + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592941 ms (missed cycles : 3).[0m + 20.74sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.74sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.74sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 20.79sINFOros2-9process has finished cleanly [pid 9266] + 20.82sINFOros2Loaded arm_only_velocity_force_controller ×3 + 20.82sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 21.20sINFOros2_control_node[2026-06-25 17:49:50.861] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.21sINFOros2_control_node[2026-06-25 17:49:50.864] [info] Controller state will be published at 10 Hz. + 21.21sINFOros2_control_node[2026-06-25 17:49:50.865] [info] VelocityForceController 'on_configure' succeeded. + 21.58sINFOros2-16process has finished cleanly [pid 9273] + 21.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 21.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192157 ms (missed cycles : 3).[0m + 21.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 21.80sINFOros2Loaded joint_velocity_controller ×3 + 21.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 22.20sINFOros2_control_node[2026-06-25 17:49:51.858] [info] Controller state will be published at 20 Hz. + 22.20sINFOros2_control_node[2026-06-25 17:49:51.859] [info] JointVelocityController 'on_configure' succeeded. + 22.57sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 22.57sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 22.57sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_uq89siia --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ptxqrxfo --params-file /tmp/launch_params_jmsflxso [0m + 22.58sINFOros2-17process has finished cleanly [pid 9274] + 22.65sINFOros2Loaded arm_only_joint_velocity_controller ×3 + 22.65sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788679 ms (missed cycles : 2).[0m + 23.03sINFOros2_control_node[2026-06-25 17:49:52.683] [info] Controller state will be published at 20 Hz. + 23.03sINFOros2_control_node[2026-06-25 17:49:52.684] [info] JointVelocityController 'on_configure' succeeded. + 23.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×29 + 23.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×29 + 23.38sINFOros2-18process has finished cleanly [pid 9275] + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859842 ms (missed cycles : 2).[0m + 23.68sWARNobjective_server_nodeNot all Objectives could be registered: ×26 + 23.68sINFOobjective_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 ×26 + 23.68sINFOobjective_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 ×26 + 23.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782409793.33932734 seconds. + 23.68sINFOmove_groupClearing octomap...[0m ×4 + 23.68sINFOmove_groupOctomap cleared.[0m ×4 + 23.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782409793.34956598 seconds + 24.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782409793.91362429 seconds. + 24.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782409793.92376709 seconds + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631843 ms (missed cycles : 3).[0m + 24.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782409794.47906470 seconds. + 24.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782409794.62994051 seconds + 25.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782409795.21403217 seconds. + 25.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 25.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 25.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 25.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 25.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 25.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782409795.27420783 seconds + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590406 ms (missed cycles : 5).[0m + 26.15sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m + 26.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782409795.83103633 seconds. + 26.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 26.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 26.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 26.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226659 ms (missed cycles : 2).[0m + 27.23sWARNobjective_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. ×7 + 27.24sINFOobjective_server_nodePlanning for 177 path waypoints. + 27.49sINFOros2_control_nodeReceived new action goal[0m ×17 + 27.49sINFOros2_control_nodeAccepted new action goal[0m ×17 + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191469 ms (missed cycles : 3).[0m + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024270 ms (missed cycles : 3).[0m + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921397 ms (missed cycles : 2).[0m + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475044 ms (missed cycles : 5).[0m + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924190 ms (missed cycles : 3).[0m + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396026 ms (missed cycles : 4).[0m + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252195 ms (missed cycles : 3).[0m + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353007 ms (missed cycles : 7).[0m + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.035241 ms (missed cycles : 6).[0m + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.632422 ms (missed cycles : 6).[0m + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245732 ms (missed cycles : 2).[0m + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833858 ms (missed cycles : 2).[0m + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591504 ms (missed cycles : 2).[0m + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887635 ms (missed cycles : 3).[0m + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222295 ms (missed cycles : 4).[0m + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102733 ms (missed cycles : 3).[0m + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725222 ms (missed cycles : 3).[0m + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888678 ms (missed cycles : 2).[0m + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053210 ms (missed cycles : 3).[0m + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857615 ms (missed cycles : 4).[0m + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.397726 ms (missed cycles : 7).[0m + 50.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449057 ms (missed cycles : 2).[0m + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308748 ms (missed cycles : 3).[0m + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232597 ms (missed cycles : 2).[0m + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523300 ms (missed cycles : 3).[0m + 54.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994277 ms (missed cycles : 5).[0m + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013904 ms (missed cycles : 4).[0m + 56.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275018 ms (missed cycles : 2).[0m + 57.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053229 ms (missed cycles : 3).[0m + 58.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233602 ms (missed cycles : 2).[0m + 59.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483139 ms (missed cycles : 2).[0m + 60.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125545 ms (missed cycles : 3).[0m + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939356 ms (missed cycles : 5).[0m + 62.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431386 ms (missed cycles : 2).[0m + 63.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.046038 ms (missed cycles : 7).[0m + 64.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024852 ms (missed cycles : 4).[0m + 65.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020666 ms (missed cycles : 4).[0m + 66.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968551 ms (missed cycles : 2).[0m + 67.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681292 ms (missed cycles : 2).[0m + 68.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653173 ms (missed cycles : 3).[0m + 69.20sINFOros2_control_nodeGoal reached, success![0m ×15 + 69.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782409838.90864301 seconds + 69.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782409839.45387149 seconds. + 69.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922943 ms (missed cycles : 4).[0m + 70.74sINFOobjective_server_nodeFound path in 0 iterations (3.557e-05 s). + 70.74sINFOobjective_server_nodePath shortcutter: [X____X] + 70.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 70.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187316 ms (missed cycles : 3).[0m + 71.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807722 ms (missed cycles : 2).[0m + 72.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782409842.52401710 seconds + 73.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279505 ms (missed cycles : 5).[0m + 73.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782409843.07534242 seconds. + 73.80sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 74.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003474 ms (missed cycles : 2).[0m + 75.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103910 ms (missed cycles : 6).[0m + 75.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 76.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.066120 ms (missed cycles : 7).[0m + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939233 ms (missed cycles : 3).[0m + 78.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687238 ms (missed cycles : 2).[0m + 79.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650548 ms (missed cycles : 4).[0m + 80.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923054 ms (missed cycles : 3).[0m + 81.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592229 ms (missed cycles : 2).[0m + 82.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880364 ms (missed cycles : 3).[0m + 83.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734568 ms (missed cycles : 2).[0m + 84.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445009 ms (missed cycles : 3).[0m + 85.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.071365 ms (missed cycles : 6).[0m + 86.16sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m + 86.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992159 ms (missed cycles : 3).[0m + 87.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192968 ms (missed cycles : 2).[0m + 88.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073126 ms (missed cycles : 3).[0m + 89.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.356836 ms (missed cycles : 5).[0m + 90.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039790 ms (missed cycles : 6).[0m + 91.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173173 ms (missed cycles : 3).[0m + 92.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118737 ms (missed cycles : 3).[0m + 93.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468176 ms (missed cycles : 3).[0m + 94.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018928 ms (missed cycles : 3).[0m + 96.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306211 ms (missed cycles : 3).[0m + 97.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128223 ms (missed cycles : 2).[0m + 98.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070687 ms (missed cycles : 3).[0m + 99.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371774 ms (missed cycles : 3).[0m +100.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445850 ms (missed cycles : 5).[0m +101.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.752694 ms (missed cycles : 7).[0m +102.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593146 ms (missed cycles : 3).[0m +103.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630695 ms (missed cycles : 2).[0m +104.18sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +104.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770976 ms (missed cycles : 2).[0m +105.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446623 ms (missed cycles : 5).[0m +106.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376704 ms (missed cycles : 5).[0m +107.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338139 ms (missed cycles : 3).[0m +108.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929020 ms (missed cycles : 2).[0m +109.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480258 ms (missed cycles : 5).[0m +110.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.956066 ms (missed cycles : 5).[0m +111.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742148 ms (missed cycles : 3).[0m +112.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.481834 ms (missed cycles : 8).[0m +113.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519907 ms (missed cycles : 4).[0m +114.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617259 ms (missed cycles : 2).[0m +115.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194354 ms (missed cycles : 3).[0m +117.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821110 ms (missed cycles : 6).[0m +118.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466570 ms (missed cycles : 3).[0m +119.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989471 ms (missed cycles : 3).[0m +120.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747542 ms (missed cycles : 2).[0m +121.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679454 ms (missed cycles : 2).[0m +122.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782405 ms (missed cycles : 2).[0m +123.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158826 ms (missed cycles : 2).[0m +124.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939298 ms (missed cycles : 3).[0m +125.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441187 ms (missed cycles : 3).[0m +126.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.346469 ms (missed cycles : 8).[0m +127.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.698744 ms (missed cycles : 5).[0m +128.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149665 ms (missed cycles : 4).[0m +129.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018998 ms (missed cycles : 2).[0m +129.80sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782409899.45549846 seconds +130.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782409900.01967692 seconds. +130.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365330 ms (missed cycles : 2).[0m +130.71sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). +130.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +131.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.444792 ms (missed cycles : 3).[0m +132.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905455 ms (missed cycles : 4).[0m +133.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904492 ms (missed cycles : 5).[0m +134.41sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782409904.06985116 seconds +134.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.569517 ms (missed cycles : 6).[0m +135.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003131 ms (missed cycles : 6).[0m +135.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782409905.62563872 seconds. +136.33sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +136.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474049 ms (missed cycles : 3).[0m +137.78sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] +138.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317879 ms (missed cycles : 3).[0m +139.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801638 ms (missed cycles : 5).[0m +140.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164389 ms (missed cycles : 3).[0m +141.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745852 ms (missed cycles : 2).[0m +142.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593454 ms (missed cycles : 4).[0m +143.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138926 ms (missed cycles : 3).[0m +144.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187993 ms (missed cycles : 3).[0m +145.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182871 ms (missed cycles : 3).[0m +146.16sINFOros2_control_nodeMuJoCo sim: 1.00% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +146.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323080 ms (missed cycles : 3).[0m +147.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.400948 ms (missed cycles : 3).[0m +148.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074611 ms (missed cycles : 2).[0m +149.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696827 ms (missed cycles : 2).[0m +150.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536404 ms (missed cycles : 3).[0m +151.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448743 ms (missed cycles : 3).[0m +152.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449800 ms (missed cycles : 5).[0m +153.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554094 ms (missed cycles : 2).[0m +154.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518613 ms (missed cycles : 4).[0m +155.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997626 ms (missed cycles : 3).[0m +156.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789416 ms (missed cycles : 2).[0m +157.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874379 ms (missed cycles : 4).[0m +158.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529684 ms (missed cycles : 3).[0m +159.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690402 ms (missed cycles : 2).[0m +161.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874026 ms (missed cycles : 2).[0m +162.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940824 ms (missed cycles : 2).[0m +163.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706194 ms (missed cycles : 2).[0m +164.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069151 ms (missed cycles : 2).[0m +165.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312284 ms (missed cycles : 3).[0m +166.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019770 ms (missed cycles : 2).[0m +166.44sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782409936.09579158 seconds +167.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782409936.65325761 seconds. +167.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.575188 ms (missed cycles : 7).[0m +167.34sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). +168.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080623 ms (missed cycles : 2).[0m +168.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +169.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597320 ms (missed cycles : 2).[0m +170.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465787 ms (missed cycles : 4).[0m +171.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545073 ms (missed cycles : 5).[0m +172.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737600 ms (missed cycles : 5).[0m +173.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671077 ms (missed cycles : 3).[0m +174.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.151474 ms (missed cycles : 5).[0m +175.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447656 ms (missed cycles : 4).[0m +176.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118304 ms (missed cycles : 3).[0m +177.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213499 ms (missed cycles : 4).[0m +178.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757334 ms (missed cycles : 2).[0m +179.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511671 ms (missed cycles : 2).[0m +180.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075488 ms (missed cycles : 3).[0m +181.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071924 ms (missed cycles : 3).[0m +182.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592053 ms (missed cycles : 4).[0m +183.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886695 ms (missed cycles : 2).[0m +184.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923249 ms (missed cycles : 2).[0m +186.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519623 ms (missed cycles : 4).[0m +187.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711962 ms (missed cycles : 5).[0m +188.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900396 ms (missed cycles : 2).[0m +189.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675789 ms (missed cycles : 3).[0m +190.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133523 ms (missed cycles : 2).[0m +191.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598800 ms (missed cycles : 3).[0m +192.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825448 ms (missed cycles : 3).[0m +193.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995081 ms (missed cycles : 2).[0m +194.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003370 ms (missed cycles : 3).[0m +195.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328900 ms (missed cycles : 5).[0m +196.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +196.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059929 ms (missed cycles : 3).[0m +197.05sINFOobjective_server_nodePlanning for 52 path waypoints. +197.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038191 ms (missed cycles : 3).[0m +198.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460811 ms (missed cycles : 2).[0m +199.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812039 ms (missed cycles : 2).[0m +200.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998522 ms (missed cycles : 3).[0m +201.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831791 ms (missed cycles : 3).[0m +202.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333693 ms (missed cycles : 3).[0m +203.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506284 ms (missed cycles : 6).[0m +204.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131313 ms (missed cycles : 4).[0m +205.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.911696 ms (missed cycles : 6).[0m +206.16sINFOros2_control_nodeMuJoCo sim: 1.09% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +206.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077869 ms (missed cycles : 3).[0m +207.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804027 ms (missed cycles : 2).[0m +208.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146795 ms (missed cycles : 4).[0m +210.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917641 ms (missed cycles : 4).[0m +211.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246953 ms (missed cycles : 2).[0m +212.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.377230 ms (missed cycles : 5).[0m +213.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175681 ms (missed cycles : 2).[0m +214.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544855 ms (missed cycles : 3).[0m +215.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253270 ms (missed cycles : 4).[0m +216.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337429 ms (missed cycles : 3).[0m +217.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.222501 ms (missed cycles : 4).[0m +218.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.855858 ms (missed cycles : 7).[0m +219.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704653 ms (missed cycles : 3).[0m +220.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044679 ms (missed cycles : 3).[0m +221.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661002 ms (missed cycles : 2).[0m +222.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049143 ms (missed cycles : 3).[0m +223.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145060 ms (missed cycles : 2).[0m +224.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892342 ms (missed cycles : 2).[0m +225.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.698926 ms (missed cycles : 5).[0m +226.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478768 ms (missed cycles : 3).[0m +227.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908784 ms (missed cycles : 2).[0m +228.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190940 ms (missed cycles : 5).[0m +229.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183511 ms (missed cycles : 2).[0m +230.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367168 ms (missed cycles : 3).[0m +231.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871160 ms (missed cycles : 4).[0m +233.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521468 ms (missed cycles : 3).[0m +234.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376465 ms (missed cycles : 2).[0m +235.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557844 ms (missed cycles : 3).[0m +236.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419997 ms (missed cycles : 4).[0m +237.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194617 ms (missed cycles : 2).[0m +238.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291642 ms (missed cycles : 3).[0m +239.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933204 ms (missed cycles : 3).[0m +240.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336191 ms (missed cycles : 5).[0m +241.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844619 ms (missed cycles : 3).[0m +242.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267275 ms (missed cycles : 2).[0m +243.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408714 ms (missed cycles : 6).[0m +244.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553239 ms (missed cycles : 2).[0m +245.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.555125 ms (missed cycles : 5).[0m +246.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285205 ms (missed cycles : 2).[0m +247.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039460 ms (missed cycles : 3).[0m +248.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607179 ms (missed cycles : 4).[0m +249.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053062 ms (missed cycles : 2).[0m +250.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193758 ms (missed cycles : 4).[0m +251.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983904 ms (missed cycles : 2).[0m +252.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991732 ms (missed cycles : 2).[0m +253.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000048 ms (missed cycles : 2).[0m +254.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627616 ms (missed cycles : 3).[0m +255.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084457 ms (missed cycles : 3).[0m +257.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194136 ms (missed cycles : 6).[0m +257.61sINFOros2_control_nodeGot request to cancel goal[0m ×2 +257.61sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +257.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` was cancelled: Objective execution was halted at time: 1782410027.28291202 seconds +257.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782410027.32584095 seconds. +258.03sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×3 +258.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730270 ms (missed cycles : 5).[0m +259.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044540 ms (missed cycles : 2).[0m +259.32sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] +260.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.505366 ms (missed cycles : 6).[0m +261.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696231 ms (missed cycles : 2).[0m +262.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792399 ms (missed cycles : 4).[0m +263.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402319 ms (missed cycles : 5).[0m +264.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928280 ms (missed cycles : 2).[0m +265.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489691 ms (missed cycles : 3).[0m +266.16sINFOros2_control_nodeMuJoCo sim: 1.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +266.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.727624 ms (missed cycles : 6).[0m +267.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074719 ms (missed cycles : 2).[0m +268.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782410037.68598485 seconds +268.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782410038.23581696 seconds. +268.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731691 ms (missed cycles : 2).[0m +268.94sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). +269.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727999 ms (missed cycles : 5).[0m +270.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 +270.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.556542 ms (missed cycles : 4).[0m +271.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145622 ms (missed cycles : 6).[0m +272.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523799 ms (missed cycles : 4).[0m +274.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432834 ms (missed cycles : 3).[0m +275.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.447140 ms (missed cycles : 10).[0m +276.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.590935 ms (missed cycles : 6).[0m +277.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295087 ms (missed cycles : 2).[0m +278.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155451 ms (missed cycles : 2).[0m +279.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432858 ms (missed cycles : 4).[0m +280.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781514 ms (missed cycles : 4).[0m +281.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732325 ms (missed cycles : 3).[0m +282.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025395 ms (missed cycles : 2).[0m +283.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.171978 ms (missed cycles : 4).[0m +284.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084712 ms (missed cycles : 2).[0m +285.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225361 ms (missed cycles : 3).[0m +286.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627246 ms (missed cycles : 3).[0m +287.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045619 ms (missed cycles : 2).[0m +288.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169330 ms (missed cycles : 3).[0m +289.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297594 ms (missed cycles : 2).[0m +290.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953412 ms (missed cycles : 2).[0m +291.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761059 ms (missed cycles : 3).[0m +292.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099895 ms (missed cycles : 2).[0m +293.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.257907 ms (missed cycles : 6).[0m +294.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105391 ms (missed cycles : 2).[0m +295.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070555 ms (missed cycles : 2).[0m +296.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.550730 ms (missed cycles : 8).[0m +297.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641504 ms (missed cycles : 3).[0m +298.78sINFOobjective_server_nodePlanning for 39 path waypoints. +298.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838215 ms (missed cycles : 2).[0m +299.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192988 ms (missed cycles : 3).[0m +300.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836674 ms (missed cycles : 2).[0m +301.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712961 ms (missed cycles : 3).[0m +303.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971811 ms (missed cycles : 3).[0m +304.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700977 ms (missed cycles : 2).[0m +305.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142760 ms (missed cycles : 3).[0m +306.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968604 ms (missed cycles : 2).[0m +307.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265506 ms (missed cycles : 5).[0m +308.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116107 ms (missed cycles : 2).[0m +309.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360992 ms (missed cycles : 3).[0m +310.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019477 ms (missed cycles : 6).[0m +311.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494816 ms (missed cycles : 3).[0m +312.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449087 ms (missed cycles : 4).[0m +313.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626992 ms (missed cycles : 4).[0m +314.38sINFOobjective_server_nodePlanning for 38 path waypoints. +314.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091061 ms (missed cycles : 2).[0m +315.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896853 ms (missed cycles : 4).[0m +316.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141414 ms (missed cycles : 6).[0m +317.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826241 ms (missed cycles : 2).[0m +318.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.425455 ms (missed cycles : 5).[0m +319.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106403 ms (missed cycles : 2).[0m +320.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105934 ms (missed cycles : 3).[0m +321.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105535 ms (missed cycles : 2).[0m +322.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.142417 ms (missed cycles : 6).[0m +323.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999818 ms (missed cycles : 3).[0m +324.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106268 ms (missed cycles : 5).[0m +326.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540244 ms (missed cycles : 4).[0m +326.17sINFOros2_control_nodeMuJoCo sim: 1.27% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +327.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474256 ms (missed cycles : 5).[0m +327.25sINFOobjective_server_nodePlanning for 29 path waypoints. +328.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053585 ms (missed cycles : 2).[0m +329.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578182 ms (missed cycles : 2).[0m +330.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445481 ms (missed cycles : 3).[0m +331.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369838 ms (missed cycles : 3).[0m +332.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544405 ms (missed cycles : 4).[0m +333.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910971 ms (missed cycles : 2).[0m +334.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429149 ms (missed cycles : 3).[0m +335.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127025 ms (missed cycles : 4).[0m +336.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493517 ms (missed cycles : 3).[0m +337.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606133 ms (missed cycles : 3).[0m +338.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255285 ms (missed cycles : 3).[0m +338.85sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782410108.50599837 seconds +339.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782410109.06757069 seconds. +339.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741303 ms (missed cycles : 2).[0m +340.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687181 ms (missed cycles : 2).[0m +341.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942810 ms (missed cycles : 4).[0m +342.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768838 ms (missed cycles : 2).[0m +343.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873386 ms (missed cycles : 2).[0m +344.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.208271 ms (missed cycles : 6).[0m +345.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792281 ms (missed cycles : 2).[0m +347.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.181964 ms (missed cycles : 6).[0m +348.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153962 ms (missed cycles : 2).[0m +349.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866556 ms (missed cycles : 2).[0m +350.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713897 ms (missed cycles : 3).[0m +351.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905856 ms (missed cycles : 4).[0m +352.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.582587 ms (missed cycles : 7).[0m +353.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025477 ms (missed cycles : 2).[0m +354.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365497 ms (missed cycles : 2).[0m +355.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545288 ms (missed cycles : 3).[0m +356.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.095446 ms (missed cycles : 6).[0m +357.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422749 ms (missed cycles : 2).[0m +358.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704663 ms (missed cycles : 2).[0m +359.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678985 ms (missed cycles : 2).[0m +360.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179684 ms (missed cycles : 3).[0m +361.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776240 ms (missed cycles : 2).[0m +362.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940345 ms (missed cycles : 4).[0m +363.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218524 ms (missed cycles : 2).[0m +364.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837608 ms (missed cycles : 2).[0m +365.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235679 ms (missed cycles : 2).[0m +366.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635493 ms (missed cycles : 2).[0m +367.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386142 ms (missed cycles : 3).[0m +368.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057705 ms (missed cycles : 2).[0m +369.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943959 ms (missed cycles : 2).[0m +370.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741503 ms (missed cycles : 4).[0m +371.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117447 ms (missed cycles : 6).[0m +372.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103299 ms (missed cycles : 2).[0m +373.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130624 ms (missed cycles : 2).[0m +375.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553128 ms (missed cycles : 2).[0m +376.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.207485 ms (missed cycles : 6).[0m +377.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.972714 ms (missed cycles : 6).[0m +378.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581095 ms (missed cycles : 5).[0m +379.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275146 ms (missed cycles : 3).[0m +380.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001004 ms (missed cycles : 3).[0m +381.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595554 ms (missed cycles : 4).[0m +382.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965895 ms (missed cycles : 2).[0m +383.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.347628 ms (missed cycles : 5).[0m +384.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.961606 ms (missed cycles : 4).[0m +385.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784503 ms (missed cycles : 4).[0m +386.17sINFOros2_control_nodeMuJoCo sim: 1.28% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +386.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868935 ms (missed cycles : 2).[0m +387.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.788681 ms (missed cycles : 7).[0m +388.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341156 ms (missed cycles : 2).[0m +389.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593154 ms (missed cycles : 3).[0m +390.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877907 ms (missed cycles : 3).[0m +391.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393035 ms (missed cycles : 3).[0m +392.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912765 ms (missed cycles : 3).[0m +393.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951086 ms (missed cycles : 2).[0m +394.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782410163.79033303 seconds +394.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782410164.35238481 seconds. +394.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103666 ms (missed cycles : 4).[0m +395.04sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +395.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432351 ms (missed cycles : 4).[0m +397.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237770 ms (missed cycles : 2).[0m +398.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119998 ms (missed cycles : 3).[0m +399.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.317218 ms (missed cycles : 6).[0m +399.35sINFOobjective_server_nodePath shortcutter: [X__________________X] +399.41sINFOobjective_server_nodePath shortcutter: [X____________________X] +399.44sINFOobjective_server_nodeFound path in 0 iterations (8.4e-07 s). +399.50sINFOobjective_server_nodePath shortcutter: [X_________________________X] +399.54sINFOobjective_server_nodeFound path in 0 iterations (1.08e-06 s). +399.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 +399.71sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +399.94sINFOobjective_server_nodeFound path in 69 iterations (0.0470175 s). +400.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] +400.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093936 ms (missed cycles : 5).[0m +400.20sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). +400.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +400.61sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). +400.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +400.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +401.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846897 ms (missed cycles : 2).[0m +402.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163646 ms (missed cycles : 3).[0m +403.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275783 ms (missed cycles : 3).[0m +404.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916267 ms (missed cycles : 7).[0m +405.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749138 ms (missed cycles : 2).[0m +406.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993827 ms (missed cycles : 3).[0m +406.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782410176.62254930 seconds +407.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542345 ms (missed cycles : 4).[0m +407.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782410177.21826339 seconds. +408.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782410177.71855402 seconds +408.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811420 ms (missed cycles : 2).[0m +408.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782410178.26733327 seconds. +409.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782410178.75858736 seconds +409.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +409.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594173 ms (missed cycles : 3).[0m +410.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680476 ms (missed cycles : 3).[0m +411.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.117126 ms (missed cycles : 5).[0m +412.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472211 ms (missed cycles : 3).[0m +413.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128833 ms (missed cycles : 2).[0m +414.71sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.72sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.72sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.73sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.73sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.73sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.74sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.74sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] +414.76sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.77sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.77sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.77sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.78sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.78sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] +414.80sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.80sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.80sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.81sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.81sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.82sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.82sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +414.82sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] +414.84sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] +414.86sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] +414.88sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] +414.89sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] +414.91sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m +414.91sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] +414.93sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] +414.95sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] +414.97sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] +414.99sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] +415.00sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +415.00sINFOweb_video_server-30process has finished cleanly [pid 9349] +415.02sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] +415.03sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] +415.04sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9332] +415.05sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] +415.07sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] +415.07sERRORmove_group-19process has died [pid 9276, 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_j_e3dw47 --params-file /tmp/launch_params_0wixmpn1 --params-file /tmp/launch_params_n7n6bpml --params-file /tmp/launch_params_spn03vm0 --params-file /tmp/launch_params_8bal13x3 --params-file /tmp/launch_params_s2qixm6g --params-file /tmp/launch_params_aw0vit6o --params-file /tmp/launch_params_goyh8j0z --params-file /tmp/launch_params_kpdzm065']. +415.09sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +415.10sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] +415.12sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +415.12sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +415.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960734 ms (missed cycles : 4).[0m +415.12sERRORui_teleop_bridgeTraceback (most recent call last): +415.12sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +415.12sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +415.12sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +415.12sINFOui_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 +415.12sINFOui_teleop_bridgerclpy.shutdown() +415.12sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +415.12sINFOui_teleop_bridge_shutdown(context=context) +415.12sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +415.12sINFOui_teleop_bridgecontext.shutdown() +415.12sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +415.12sINFOui_teleop_bridgeself.__context.shutdown() +415.12sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +415.13sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOcomponent_container_mtStopping planning scene monitor[0m +415.13sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +415.13sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +415.13sERRORmove_groupwhat(): context cannot be slept with because it's invalid +415.13sERRORmove_groupStack trace (most recent call last) in thread 9836: +415.13sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +415.13sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4dd408a63, in __clone +415.13sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4dd37baa3, in +415.13sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff4dd60ddb3, in +415.13sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff4ddc621c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +415.13sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4dd9804d0, in rclcpp::Rate::sleep() +415.13sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4dd8d3a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +415.13sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff4dd898a71, in +415.13sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff4dd5dc390, in __cxa_throw +415.13sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff4dd5c6a54, in std::terminate() +415.13sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff4dd5dc0d9, in +415.13sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff4dd5c6ff4, in +415.13sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4dd3078fe, in abort +415.13sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4dd32427d, in raise +415.13sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff4dd37db2c, in pthread_kill +415.13sERRORmove_groupAborted (Signal sent by tkill() 9276 0) +415.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +415.13sINFOros2_control_nodeShutdown request received....[0m +415.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +415.13sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +415.14sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +415.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +415.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +415.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +415.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +415.14sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +415.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +415.14sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +415.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +415.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +415.14sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +415.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +415.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +415.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +415.14sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +415.14sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +415.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +415.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +415.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +415.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +415.14sINFOros2_control_nodeShutting down the controller manager.[0m +415.14sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +415.14sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system +415.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×2 +415.14sINFOobjective_server_node[2026-06-25 17:56:24.716] [moveit_pro_license] [info] +415.14sINFOobjective_server_node* Application has successfully terminated +415.14sERRORodom_qos_relay.pyTraceback (most recent call last): +415.14sINFOodom_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> +415.14sINFOodom_qos_relay.pymain() +415.14sINFOodom_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 +415.14sINFOodom_qos_relay.pyrclpy.spin(node) +415.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +415.14sINFOodom_qos_relay.pyexecutor.spin_once() +415.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +415.14sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +415.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +415.14sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +415.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +415.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +415.14sINFOodom_qos_relay.pyreturn next(self._cb_iter) +415.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +415.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +415.14sINFOodom_qos_relay.pyraise ExternalShutdownException() +415.14sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +415.14sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×2 +415.14sERRORobjective_server_nodeStack trace (most recent call last): +415.15sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +415.15sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a35d94e6a4, in _start +415.15sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c8845928a, in __libc_start_main +415.15sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c884591d0, in +415.15sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c88476bbd, in exit +415.15sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0c88476a75, in +415.15sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0c889484a2, in spdlog::details::registry::~registry() +415.15sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0c8895369d, 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() +415.15sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f0c8894d965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +415.15sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a35d955315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +415.15sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a35d9545a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +415.15sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a35d950b7b, in spdlog_ros::RosSink::~RosSink() +415.15sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a35d94ed79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +415.15sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c88fef454, in rclcpp::Node::~Node() +415.15sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c88faa515, in +415.15sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c88fedd20, in +415.15sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c88fedc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() +415.15sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c88faa5d9, in +415.15sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c88faf161, in rclcpp::CallbackGroup::~CallbackGroup() +415.15sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f0c34756120]) +415.15sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×3 +415.20sERRORobjective_server_node_main-24process has died [pid 9327, 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_g28xehyw --params-file /tmp/launch_params_jqp1djjr --params-file /tmp/launch_params_1gr7o97l --params-file /tmp/launch_params_ltmbp9bh --params-file /tmp/launch_params_6acgzunu --params-file /tmp/launch_params_np9vw7ww --params-file /tmp/launch_params_g7vonhbn --params-file /tmp/launch_params_3t06aos4 --params-file /tmp/launch_params_xe8oiqwx']. +415.20sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system +415.23sINFOros2_control_nodeAsync messages lost 0[0m ×2 +415.23sINFOros2_control_nodepublish_async_failures_ 3[0m +415.24sINFOros2_control_nodepublish_async_failures_ 6[0m +415.97sERRORui_teleop_bridge-27process has died [pid 9330, 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_na25017g']. +415.97sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9324] +415.98sINFOexecute_objective_bridge-26process has finished cleanly [pid 9329] +415.99sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9279] +416.04sINFOparameter_manager_node-20process has finished cleanly [pid 9277] +416.06sINFOwaypoint_manager_node-21process has finished cleanly [pid 9278] +416.08sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9197] +416.10sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9196] +416.12sINFOstatic_transform_publisher-3process has finished cleanly [pid 9194] +416.15sINFOstatic_transform_publisher-2process has finished cleanly [pid 9193] +416.18sERRORodom_qos_relay.py-4process has died [pid 9195, 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']. +416.18sINFOcomponent_container_mt-25process has finished cleanly [pid 9328] +417.62sINFOweb_bridge-28process has finished cleanly [pid 9331] +417.62sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system +417.84sINFOros2_control_node-7process has finished cleanly [pid 9198] +419.71sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' +419.73sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] +419.74sERRORcomponent_container_isolated-1process has died [pid 9192, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_4xldtc23 --params-file /tmp/launch_params_x58y_gl8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +427.47sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-25-17-56-33-932252-2c112a69f238-10168 ×2 +440.58sINFOstatic_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' +440.58sINFOstatic_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' +440.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +440.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +440.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +440.68sINFOcontroller_managerupdate rate is 600 Hz +440.68sINFOcontroller_managerOverruns handling is : enabled +440.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +440.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +440.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +440.69sWARNcontroller_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. +440.70sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +440.72sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +440.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +440.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +440.78sINFOcontroller_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. +440.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755627 ms (missed cycles : 2). +440.87sINFOcontroller_serverCreating controller server +440.87sINFOros2_control_node-7process started with pid [10223] ×2 +440.87sINFOmove_group-19process started with pid [10301] ×2 +440.87sINFOparameter_manager_node-20process started with pid [10302] ×2 +440.87sINFOwaypoint_manager_node-21process started with pid [10303] ×2 +440.87sINFOmove_joint_resampler_node-22process started with pid [10308] ×2 +440.87sINFOmove_end_effector_resampler_node-23process started with pid [10350] ×2 +440.87sINFOobjective_server_node_main-24process started with pid [10367] ×2 +440.87sINFOcomponent_container_mt-25process started with pid [10368] ×2 +440.87sINFOexecute_objective_bridge-26process started with pid [10372] ×2 +440.88sINFOui_teleop_bridge-27process started with pid [10373] ×2 +440.88sINFOweb_bridge-28process started with pid [10374] ×2 +440.88sINFOtf2_web_republisher_node-29process started with pid [10375] ×2 +440.88sINFOweb_video_server-30process started with pid [10376] ×2 +440.90sINFOcomponent_container_isolated-1process started with pid [10217] ×2 +440.90sINFOstatic_transform_publisher-2process started with pid [10218] ×2 +440.90sINFOstatic_transform_publisher-3process started with pid [10219] ×2 +440.90sINFOodom_qos_relay.py-4process started with pid [10220] ×2 +440.90sINFOscan_to_scan_filter_chain-5process started with pid [10221] ×2 +440.90sINFOscan_to_scan_filter_chain-6process started with pid [10222] ×2 +440.90sINFOros2-8process started with pid [10224] ×2 +440.90sINFOros2-9process started with pid [10291] ×2 +440.90sINFOros2-10process started with pid [10292] ×2 +440.90sINFOros2-11process started with pid [10293] ×2 +440.90sINFOros2-12process started with pid [10294] ×2 +440.90sINFOros2-13process started with pid [10295] ×2 +440.90sINFOros2-14process started with pid [10296] ×2 +440.90sINFOros2-15process started with pid [10297] ×2 +440.90sINFOros2-16process started with pid [10298] ×2 +440.90sINFOros2-17process started with pid [10299] ×2 +440.90sINFOros2-18process started with pid [10300] ×2 +440.91sINFOlocal_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. +440.91sINFOlocal_costmap.local_costmapCreating Costmap +440.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +440.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +440.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +440.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +440.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +440.98sINFOmap_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. +440.98sINFOmap_serverCreating +440.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +440.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755627 ms (missed cycles : 2).[0m ×2 +440.99sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 +441.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +441.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +441.02sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +441.03sINFOsmoother_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. +441.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +441.06sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +441.07sINFOsmoother_serverCreating smoother server +441.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +441.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +441.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +441.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +441.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +441.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +441.19sINFOrobot_state_publisherRobot initialized +441.19sINFOcontroller_managerReceived robot description from topic. +441.19sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +441.21sINFOplanner_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. +441.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +441.24sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +441.26sINFOplanner_serverCreating +441.27sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +441.27sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +441.29sINFOglobal_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. +441.30sINFOglobal_costmap.global_costmapCreating Costmap +441.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +441.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +441.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 +441.34sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +441.36sINFOlifecycle_manager_localizationCreating +441.37sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +441.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +441.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +441.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +441.38sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +441.38sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +441.38sINFOmap_serverConfiguring +441.42sINFObehavior_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. +441.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +441.47sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +441.47sINFOamclConfiguring +441.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg +441.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png +441.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed +441.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 +441.47sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 +441.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg +441.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png +441.48sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed +441.48sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 +441.48sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +441.48sINFOmap_serverActivating +441.48sINFOmap_serverCreating bond (map_server) to lifecycle manager. +441.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +441.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +441.52sINFObt_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. +441.54sINFObt_navigatorCreating +441.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +441.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +441.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +441.57sINFOwaypoint_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. +441.58sINFOwaypoint_followerCreating +441.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +441.59sWARNlaser_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. +441.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +441.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +441.59sWARNlaser_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. +441.59sINFOlifecycle_manager_localizationServer map_server connected with bond. +441.59sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +441.59sINFOamclActivating +441.59sINFOamclSubscribed to initial_pose_topic: /initialpose +441.60sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +441.60sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.473496 seconds +441.60sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +441.61sINFOmove_groupLoaded robot model in 0.473496 seconds[0m ×2 +441.61sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +441.62sINFOamclSubscribed to map_topic: /map +441.63sINFOamclSubscribed to scan_topic: /scan_merged +441.63sINFOamclCreated reinitialize_global_localization service +441.63sINFOamclCreated request_nomotion_update service +441.63sINFOamclA new map was received +441.63sINFOamclInitializing particle filter instance +441.64sINFOvelocity_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. +441.67sINFOlifecycle_manager_navigationCreating +441.69sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +441.73sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +441.73sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +441.73sINFOcontroller_serverConfiguring controller interface +441.73sINFOcontroller_servergetting progress checker plugins.. +441.73sINFOcontroller_servergetting goal checker plugins.. +441.73sINFOcontroller_serverController frequency set to 20.0000Hz +441.73sINFOlocal_costmap.local_costmapConfiguring +441.73sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +441.76sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +441.82sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +441.82sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +441.82sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +441.85sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +441.86sINFOcontroller_serverController Server has progress_checker progress checkers available. +441.86sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +441.87sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +441.87sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +441.90sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +441.91sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +441.91sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +441.92sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +441.92sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +441.93sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +441.93sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +441.93sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +441.93sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +441.94sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +441.94sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +441.95sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +441.96sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +441.96sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +441.97sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +441.97sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +441.97sINFOcontroller_serverOptimizer reset +441.98sINFOcontroller_serverController Server has FollowPath controllers available. +441.99sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +442.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989119 ms (missed cycles : 2). +442.00sINFOsmoother_serverConfiguring smoother server +442.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989119 ms (missed cycles : 2).[0m ×2 +442.01sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +442.03sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +442.03sINFOwaypoint_manager_nodeLoaded robot model in 0.486781 seconds[0m ×2 +442.04sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +442.04sINFOplanner_serverConfiguring +442.04sINFOglobal_costmap.global_costmapConfiguring +442.05sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +442.06sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +442.06sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +442.06sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +442.08sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +442.11sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +442.11sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +442.12sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +442.15sFATALplanner_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 +442.15sINFOplanner_serverCleaning up +442.15sINFOglobal_costmap.global_costmapCleaning up +442.15sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +442.18sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +442.18sWARNmove_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. +442.19sWARNmove_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. +442.19sERRORlifecycle_manager_navigationFailed to change state for node: planner_server +442.19sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. +442.19sWARNmove_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. +442.19sWARNmove_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. +442.19sWARNmove_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. +442.19sWARNmove_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. +442.20sWARNmove_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. +442.20sWARNmove_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. +442.20sWARNmove_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. +442.20sWARNmove_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. +442.24sINFOamclParticle filter initialization completed +442.24sINFOamclInitializing particles from estimated pose and covariance +442.24sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +442.24sINFOamclThe bond connection to the lifecycle manager is now fully formed +442.24sINFOlifecycle_manager_localizationServer amcl connected with bond. +442.24sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +442.24sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +442.48sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +442.70sWARNwaypoint_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. +442.71sWARNwaypoint_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. +442.71sWARNwaypoint_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. +442.71sWARNwaypoint_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. +442.71sWARNwaypoint_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. +442.72sWARNwaypoint_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. +442.72sWARNwaypoint_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. +442.72sWARNwaypoint_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. +442.73sWARNwaypoint_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. +442.73sWARNwaypoint_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. +442.74sWARNwaypoint_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. +442.74sWARNwaypoint_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. +442.74sWARNwaypoint_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. +442.74sWARNwaypoint_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. +442.75sWARNwaypoint_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. +442.75sWARNwaypoint_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. +442.77sWARNwaypoint_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. +442.77sWARNwaypoint_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. +442.77sWARNwaypoint_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. +442.78sWARNwaypoint_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. +442.78sWARNwaypoint_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. +442.78sWARNwaypoint_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. +442.78sWARNwaypoint_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. +442.78sWARNwaypoint_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. +442.78sWARNwaypoint_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. +442.79sWARNwaypoint_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. +442.79sWARNwaypoint_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. +442.79sWARNwaypoint_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. +442.81sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +442.81sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +442.81sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +442.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +442.82sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +442.82sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +442.82sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +442.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +442.82sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +442.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +442.82sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +442.84sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +442.84sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +443.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +443.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. +443.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +443.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +443.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959896 ms (missed cycles : 2). +443.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959896 ms (missed cycles : 2).[0m ×2 +443.54sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +443.54sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +443.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +443.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +443.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +443.73sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.212ms +443.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +443.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' +443.86sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +443.86sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +443.87sINFOobjective_server_node[2026-06-25 17:56:53.526] [moveit_pro_license] [info] ×2 +443.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +443.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +443.89sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller +443.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +443.95sINFOobjective_server_nodeLoaded robot model in 0.0282489 seconds[0m ×2 +444.26sINFOcomponent_container_mtLoaded robot model in 0.363003 seconds[0m ×2 +444.36sINFOros2_control_node[2026-06-25 17:56:54.013] [info] Controller state will be published at 20 Hz. ×2 +444.36sINFOros2_control_node[2026-06-25 17:56:54.016] [info] JointVelocityController 'on_configure' succeeded. ×2 +444.42sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.42sWARNobjective_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. +444.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968675 ms (missed cycles : 2). +444.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968675 ms (missed cycles : 2).[0m ×2 +444.61sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +444.65sWARNplanning_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. +444.65sWARNplanning_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. +444.65sWARNplanning_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. +444.65sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.66sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.67sWARNplanning_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. +444.72sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +444.73sINFOros2-17process has finished cleanly [pid 10299] ×2 +444.97sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +444.97sINFOcontroller_managerLoading controller 'vacuum_gripper' +444.98sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +444.98sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +445.00sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +445.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper +445.01sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +445.01sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +445.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +445.02sINFOcontroller_managerSuccessfully switched controllers! ×8 +445.03sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper +445.32sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +445.33sINFOcontroller_managerLoading controller 'velocity_force_controller' +445.36sINFOros2-12process has finished cleanly [pid 10294] ×2 +445.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +445.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +445.50sINFOspawner_velocity_force_controllerLoaded velocity_force_controller +445.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +445.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +445.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +445.52sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +445.52sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +445.53sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds +445.53sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1782410214.087 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +445.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111710 ms (missed cycles : 2). +445.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111710 ms (missed cycles : 2).[0m ×2 +445.85sINFOros2_control_node[2026-06-25 17:56:55.509] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +445.85sINFOros2_control_node[2026-06-25 17:56:55.511] [info] Controller state will be published at 10 Hz. ×2 +445.85sINFOros2_control_node[2026-06-25 17:56:55.513] [info] VelocityForceController 'on_configure' succeeded. ×2 +445.92sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers +445.92sINFOmove_groupMoveGroup debug mode is ON +446.19sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +446.19sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +446.20sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +446.20sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +446.22sINFOros2-15process has finished cleanly [pid 10297] ×2 +446.25sINFOmove_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
********************************************************
+446.27sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster +446.27sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +446.28sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +446.28sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster +446.62sINFOros2-9process has finished cleanly [pid 10291] ×2 +446.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750115 ms (missed cycles : 2). +446.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750115 ms (missed cycles : 2).[0m ×2 +446.65sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +446.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +446.90sINFOcontroller_managerLoading controller 'platform_velocity_controller' +446.91sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +446.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +446.94sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller +446.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +446.96sINFOplatform_velocity_controllerconfigure successful +446.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +446.97sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller +447.31sINFOros2-11process has finished cleanly [pid 10293] ×2 +447.33sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +447.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +447.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +447.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +447.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +447.38sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster +447.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +447.39sINFOforce_torque_sensor_broadcasterconfigure successful +447.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +447.40sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster +447.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525146 ms (missed cycles : 6). +447.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525146 ms (missed cycles : 6).[0m ×2 +447.79sINFOros2-8process has finished cleanly [pid 10224] ×2 +447.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +447.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +447.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +447.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +447.94sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller +447.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +447.95sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +447.95sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +447.96sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +447.96sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +447.97sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +448.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +448.25sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +448.25sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +448.26sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +448.29sINFOros2-14process has finished cleanly [pid 10296] ×2 +448.34sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 +448.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +448.35sINFOplatform_velocity_controller_nav2configure successful +448.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). +448.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 +448.76sINFOros2-13process has finished cleanly [pid 10295] ×2 +448.77sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +448.77sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +448.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +448.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +448.84sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller +448.84sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +449.23sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 +449.23sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 +449.60sINFOros2-18process has finished cleanly [pid 10300] ×2 +449.67sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +449.67sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +449.67sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +449.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +449.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). +449.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 +449.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller +449.74sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +450.09sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +450.09sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 +450.09sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 +450.46sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... +450.48sINFOros2-16process has finished cleanly [pid 10298] ×2 +450.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). +450.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 +450.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +450.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +450.73sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls +450.73sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 +450.75sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster +450.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +450.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +450.75sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +450.75sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +450.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +450.77sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster +451.12sINFOros2-10process has finished cleanly [pid 10292] ×2 +451.52sWARNobjective_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 +451.52sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 +451.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +451.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +451.53sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 +451.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). +451.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 +452.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 +452.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 +452.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 +452.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 +452.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). +452.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 +453.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 +453.40sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +453.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +453.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +453.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +453.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +453.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +453.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 +453.54sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 +453.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). +453.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 +454.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 +454.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +454.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +454.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 48 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.55sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.07sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.07sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.42sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.42sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.79sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.79sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.08sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.08sINFOros2Loaded joint_state_broadcaster ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.10sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.45sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.85sWARNobjective_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 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.85sINFOobjective_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 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.87sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 6.42sWARNobjective_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 + 6.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 45 warnings · 277 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 7.15sWARNobjective_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 + 7.15sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.41sINFOjoint_trajectory_controllerReceived new action goal + 7.41sINFOjoint_trajectory_controllerAccepted new action goal + 7.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.41sINFOros2_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/2026-06-25-17-56-33-932252-2c112a69f238-10168 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 268 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.01sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.02sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.02sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.02sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.02sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.03sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.03sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.32sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.32sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.36sINFOros2-14process has finished cleanly [pid 10296] ×2 + 0.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.41sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.41sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.41sINFOplatform_velocity_controller_nav2configure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.82sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.83sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.90sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.90sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.92sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.67sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.15sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.53sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.55sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.81sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.81sINFOros2Loaded joint_state_broadcaster ×2 + 2.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.82sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.83sINFOros2Configured and activated joint_state_broadcaster ×2 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.19sINFOros2-10process has finished cleanly [pid 10292] ×2 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 3.58sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.58sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 5.61sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 45 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268921 ms (missed cycles : 2).[0m ×2 + 0.09sINFOros2-13process has finished cleanly [pid 10295] ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.55sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOros2-18process has finished cleanly [pid 10300] ×2 + 1.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 1.07sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.07sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.42sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.42sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.79sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.79sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOros2-16process has finished cleanly [pid 10298] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 2.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 2.08sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.08sINFOros2Loaded joint_state_broadcaster ×2 + 2.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.10sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.45sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.85sWARNobjective_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 + 2.85sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.85sINFOobjective_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 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 4.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.87sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 5.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 6.42sWARNobjective_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 + 6.42sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[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 | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 45 warnings · 197 info |
+ 0.00sINFOros2_control_node[2026-06-25 17:56:58.883] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 17:56:58.884] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.38sINFOros2-18process has finished cleanly [pid 10300] ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 0.45sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.45sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768418 ms (missed cycles : 2).[0m ×2 + 0.51sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.51sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.86sINFOros2_control_node[2026-06-25 17:56:59.747] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.750] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-06-25 17:56:59.751] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.24sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.24sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.26sINFOros2-16process has finished cleanly [pid 10298] ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152599 ms (missed cycles : 3).[0m ×2 + 1.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls + 1.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pv_duxq_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mnnb81hs --params-file /tmp/launch_params_tt71agls [0m ×2 + 1.53sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.53sINFOros2Loaded joint_state_broadcaster ×2 + 1.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.53sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.53sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.53sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.55sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.55sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOros2-10process has finished cleanly [pid 10292] ×2 + 2.29sWARNobjective_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 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.29sINFOobjective_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 + 2.29sINFOobjective_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 + 2.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782410221.18124175 seconds. ×3 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.30sINFOmove_groupClearing octomap...[0m ×2 + 2.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.30sINFOmove_groupOctomap cleared.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782410221.19149375 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705980 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782410221.74462938 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782410221.75477219 seconds ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782410222.30921340 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782410222.45982599 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520182 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782410223.04449248 seconds. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782410223.11468220 seconds ×3 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797138 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782410223.66537023 seconds. ×3 + 4.79sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.306430 ms (missed cycles : 7).[0m ×2 + 5.86sWARNobjective_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 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276401 ms (missed cycles : 5).[0m ×2 | ||||